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1 .file "fc.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __tmp_reg__ = 06 __zero_reg__ = 17 .global __do_copy_data8 .global __do_clear_bss9 .text10 .global DefaultStickMapping12 DefaultStickMapping:13 /* prologue: frame size=0 */14 /* prologue end (size=0) */15 0000 81E0 ldi r24,lo8(1)16 0002 8093 0000 sts EE_Parameter,r2417 0006 82E0 ldi r24,lo8(2)18 0008 8093 0000 sts EE_Parameter+1,r2419 000c 83E0 ldi r24,lo8(3)20 000e 8093 0000 sts EE_Parameter+2,r2421 0012 84E0 ldi r24,lo8(4)22 0014 8093 0000 sts EE_Parameter+3,r2423 0018 85E0 ldi r24,lo8(5)24 001a 8093 0000 sts EE_Parameter+4,r2425 001e 86E0 ldi r24,lo8(6)26 0020 8093 0000 sts EE_Parameter+5,r2427 0024 87E0 ldi r24,lo8(7)28 0026 8093 0000 sts EE_Parameter+6,r2429 002a 88E0 ldi r24,lo8(8)30 002c 8093 0000 sts EE_Parameter+7,r2431 /* epilogue: frame size=0 */32 0030 0895 ret33 /* epilogue end (size=1) */34 /* function DefaultStickMapping size 25 (24) */36 .global MotorSmoothing38 MotorSmoothing:39 /* prologue: frame size=0 */40 /* prologue end (size=0) */41 0032 6817 cp r22,r2442 0034 7907 cpc r23,r2543 0036 04F4 brge .L444 0038 680F add r22,r2445 003a 791F adc r23,r2546 003c 77FD sbrc r23,747 003e 00C0 rjmp .L1048 0040 CB01 movw r24,r2249 0042 9595 asr r2550 0044 8795 ror r2451 0046 0895 ret52 .L4:53 0048 681B sub r22,r2454 004a 790B sbc r23,r2555 004c 861B sub r24,r2256 004e 970B sbc r25,r2357 0050 0895 ret58 .L10:59 0052 6F5F subi r22,lo8(-(1))60 0054 7F4F sbci r23,hi8(-(1))61 0056 CB01 movw r24,r2262 0058 9595 asr r2563 005a 8795 ror r2464 005c 0895 ret65 /* epilogue: frame size=0 */66 /* epilogue: noreturn */67 /* epilogue end (size=0) */68 /* function MotorSmoothing size 22 (22) */70 .global Mittelwert72 Mittelwert:73 /* prologue: frame size=27 */74 005e 2F92 push r275 0060 3F92 push r376 0062 4F92 push r477 0064 5F92 push r578 0066 6F92 push r679 0068 7F92 push r780 006a 8F92 push r881 006c 9F92 push r982 006e AF92 push r1083 0070 BF92 push r1184 0072 CF92 push r1285 0074 DF92 push r1386 0076 EF92 push r1487 0078 FF92 push r1588 007a 0F93 push r1689 007c 1F93 push r1790 007e CF93 push r2891 0080 DF93 push r2992 0082 CDB7 in r28,__SP_L__93 0084 DEB7 in r29,__SP_H__94 0086 6B97 sbiw r28,2795 0088 0FB6 in __tmp_reg__,__SREG__96 008a F894 cli97 008c DEBF out __SP_H__,r2998 008e 0FBE out __SREG__,__tmp_reg__99 0090 CDBF out __SP_L__,r28100 /* prologue end (size=26) */101 0092 8091 0000 lds r24,AdWertGier102 0096 9091 0000 lds r25,(AdWertGier)+1103 009a 4090 0000 lds r4,AdNeutralGier104 009e 5090 0000 lds r5,(AdNeutralGier)+1105 00a2 481A sub r4,r24106 00a4 590A sbc r5,r25107 00a6 5092 0000 sts (MesswertGier)+1,r5108 00aa 4092 0000 sts MesswertGier,r4109 00ae 2091 0000 lds r18,AdWertNickFilter110 00b2 3091 0000 lds r19,(AdWertNickFilter)+1111 00b6 37FF sbrs r19,7112 00b8 00C0 rjmp .+4113 00ba 0C94 0000 jmp .L146114 .L12:115 00be 3595 asr r19116 00c0 2795 ror r18117 00c2 3595 asr r19118 00c4 2795 ror r18119 00c6 3595 asr r19120 00c8 2795 ror r18121 00ca 3B8F std Y+27,r19122 00cc 2A8F std Y+26,r18123 00ce 2091 0000 lds r18,AdWertRollFilter124 00d2 3091 0000 lds r19,(AdWertRollFilter)+1125 00d6 37FD sbrc r19,7126 00d8 00C0 rjmp .L147127 .L13:128 00da 3595 asr r19129 00dc 2795 ror r18130 00de 3595 asr r19131 00e0 2795 ror r18132 00e2 3595 asr r19133 00e4 2795 ror r18134 00e6 3C8B std Y+20,r19135 00e8 2B8B std Y+19,r18136 00ea 2A8D ldd r18,Y+26137 00ec 3B8D ldd r19,Y+27138 00ee 3093 0000 sts (RohMesswertNick)+1,r19139 00f2 2093 0000 sts RohMesswertNick,r18140 00f6 8B89 ldd r24,Y+19141 00f8 9C89 ldd r25,Y+20142 00fa 9093 0000 sts (RohMesswertRoll)+1,r25143 00fe 8093 0000 sts RohMesswertRoll,r24144 0102 6091 0000 lds r22,AdWertAccNick145 0106 7091 0000 lds r23,(AdWertAccNick)+1146 010a 8827 clr r24147 010c 77FD sbrc r23,7148 010e 8095 com r24149 0110 982F mov r25,r24150 0112 26E0 ldi r18,lo8(6)151 0114 30E0 ldi r19,hi8(6)152 0116 40E0 ldi r20,hlo8(6)153 0118 50E0 ldi r21,hhi8(6)154 011a 0E94 0000 call __mulsi3155 011e 7B01 movw r14,r22156 0120 8C01 movw r16,r24157 0122 2091 0000 lds r18,Mittelwert_AccNick158 0126 3091 0000 lds r19,(Mittelwert_AccNick)+1159 012a 4427 clr r20160 012c 37FD sbrc r19,7161 012e 4095 com r20162 0130 542F mov r21,r20163 0132 CA01 movw r24,r20164 0134 B901 movw r22,r18165 0136 660F lsl r22166 0138 771F rol r23167 013a 881F rol r24168 013c 991F rol r25169 013e 620F add r22,r18170 0140 731F adc r23,r19171 0142 841F adc r24,r20172 0144 951F adc r25,r21173 0146 6E0D add r22,r14174 0148 7F1D adc r23,r15175 014a 801F adc r24,r16176 014c 911F adc r25,r17177 014e 24E0 ldi r18,lo8(4)178 0150 30E0 ldi r19,hi8(4)179 0152 40E0 ldi r20,hlo8(4)180 0154 50E0 ldi r21,hhi8(4)181 0156 0E94 0000 call __divmodsi4182 015a 3093 0000 sts (Mittelwert_AccNick)+1,r19183 015e 2093 0000 sts Mittelwert_AccNick,r18184 0162 6091 0000 lds r22,AdWertAccRoll185 0166 7091 0000 lds r23,(AdWertAccRoll)+1186 016a 8827 clr r24187 016c 77FD sbrc r23,7188 016e 8095 com r24189 0170 982F mov r25,r24190 0172 26E0 ldi r18,lo8(6)191 0174 30E0 ldi r19,hi8(6)192 0176 40E0 ldi r20,hlo8(6)193 0178 50E0 ldi r21,hhi8(6)194 017a 0E94 0000 call __mulsi3195 017e 7B01 movw r14,r22196 0180 8C01 movw r16,r24197 0182 2091 0000 lds r18,Mittelwert_AccRoll198 0186 3091 0000 lds r19,(Mittelwert_AccRoll)+1199 018a 4427 clr r20200 018c 37FD sbrc r19,7201 018e 4095 com r20202 0190 542F mov r21,r20203 0192 CA01 movw r24,r20204 0194 B901 movw r22,r18205 0196 660F lsl r22206 0198 771F rol r23207 019a 881F rol r24208 019c 991F rol r25209 019e 620F add r22,r18210 01a0 731F adc r23,r19211 01a2 841F adc r24,r20212 01a4 951F adc r25,r21213 01a6 6E0D add r22,r14214 01a8 7F1D adc r23,r15215 01aa 801F adc r24,r16216 01ac 911F adc r25,r17217 01ae 24E0 ldi r18,lo8(4)218 01b0 30E0 ldi r19,hi8(4)219 01b2 40E0 ldi r20,hlo8(4)220 01b4 50E0 ldi r21,hhi8(4)221 01b6 0E94 0000 call __divmodsi4222 01ba 3093 0000 sts (Mittelwert_AccRoll)+1,r19223 01be 2093 0000 sts Mittelwert_AccRoll,r18224 01c2 E090 0000 lds r14,AdWertAccHoch225 01c6 F090 0000 lds r15,(AdWertAccHoch)+1226 01ca 2091 0000 lds r18,Mittelwert_AccHoch227 01ce 3091 0000 lds r19,(Mittelwert_AccHoch)+1228 01d2 4427 clr r20229 01d4 37FD sbrc r19,7230 01d6 4095 com r20231 01d8 542F mov r21,r20232 01da CA01 movw r24,r20233 01dc B901 movw r22,r18234 01de 660F lsl r22235 01e0 771F rol r23236 01e2 881F rol r24237 01e4 991F rol r25238 01e6 620F add r22,r18239 01e8 731F adc r23,r19240 01ea 841F adc r24,r20241 01ec 951F adc r25,r21242 01ee 0027 clr r16243 01f0 F7FC sbrc r15,7244 01f2 0095 com r16245 01f4 102F mov r17,r16246 01f6 6E0D add r22,r14247 01f8 7F1D adc r23,r15248 01fa 801F adc r24,r16249 01fc 911F adc r25,r17250 01fe 24E0 ldi r18,lo8(4)251 0200 30E0 ldi r19,hi8(4)252 0202 40E0 ldi r20,hlo8(4)253 0204 50E0 ldi r21,hhi8(4)254 0206 0E94 0000 call __divmodsi4255 020a 3093 0000 sts (Mittelwert_AccHoch)+1,r19256 020e 2093 0000 sts Mittelwert_AccHoch,r18257 0212 2091 0000 lds r18,AdWertAccNick258 0216 3091 0000 lds r19,(AdWertAccNick)+1259 021a C901 movw r24,r18260 021c 880F lsl r24261 021e 991F rol r25262 0220 820F add r24,r18263 0222 931F adc r25,r19264 0224 880F lsl r24265 0226 991F rol r25266 0228 AA27 clr r26267 022a 97FD sbrc r25,7268 022c A095 com r26269 022e BA2F mov r27,r26270 0230 2091 0000 lds r18,IntegralAccNick271 0234 3091 0000 lds r19,(IntegralAccNick)+1272 0238 4091 0000 lds r20,(IntegralAccNick)+2273 023c 5091 0000 lds r21,(IntegralAccNick)+3274 0240 280F add r18,r24275 0242 391F adc r19,r25276 0244 4A1F adc r20,r26277 0246 5B1F adc r21,r27278 0248 2093 0000 sts IntegralAccNick,r18279 024c 3093 0000 sts (IntegralAccNick)+1,r19280 0250 4093 0000 sts (IntegralAccNick)+2,r20281 0254 5093 0000 sts (IntegralAccNick)+3,r21282 0258 2091 0000 lds r18,AdWertAccRoll283 025c 3091 0000 lds r19,(AdWertAccRoll)+1284 0260 C901 movw r24,r18285 0262 880F lsl r24286 0264 991F rol r25287 0266 820F add r24,r18288 0268 931F adc r25,r19289 026a 880F lsl r24290 026c 991F rol r25291 026e AA27 clr r26292 0270 97FD sbrc r25,7293 0272 A095 com r26294 0274 BA2F mov r27,r26295 0276 2091 0000 lds r18,IntegralAccRoll296 027a 3091 0000 lds r19,(IntegralAccRoll)+1297 027e 4091 0000 lds r20,(IntegralAccRoll)+2298 0282 5091 0000 lds r21,(IntegralAccRoll)+3299 0286 280F add r18,r24300 0288 391F adc r19,r25301 028a 4A1F adc r20,r26302 028c 5B1F adc r21,r27303 028e 2093 0000 sts IntegralAccRoll,r18304 0292 3093 0000 sts (IntegralAccRoll)+1,r19305 0296 4093 0000 sts (IntegralAccRoll)+2,r20306 029a 5093 0000 sts (IntegralAccRoll)+3,r21307 029e 2091 0000 lds r18,AdWertAccNick308 02a2 3091 0000 lds r19,(AdWertAccNick)+1309 02a6 8091 0000 lds r24,NaviAccNick310 02aa 9091 0000 lds r25,(NaviAccNick)+1311 02ae 820F add r24,r18312 02b0 931F adc r25,r19313 02b2 9093 0000 sts (NaviAccNick)+1,r25314 02b6 8093 0000 sts NaviAccNick,r24315 02ba 2091 0000 lds r18,AdWertAccRoll316 02be 3091 0000 lds r19,(AdWertAccRoll)+1317 02c2 8091 0000 lds r24,NaviAccRoll318 02c6 9091 0000 lds r25,(NaviAccRoll)+1319 02ca 820F add r24,r18320 02cc 931F adc r25,r19321 02ce 9093 0000 sts (NaviAccRoll)+1,r25322 02d2 8093 0000 sts NaviAccRoll,r24323 02d6 8091 0000 lds r24,NaviCntAcc324 02da 9091 0000 lds r25,(NaviCntAcc)+1325 02de 0196 adiw r24,1326 02e0 9093 0000 sts (NaviCntAcc)+1,r25327 02e4 8093 0000 sts NaviCntAcc,r24328 02e8 E090 0000 lds r14,Aktuell_az329 02ec F090 0000 lds r15,(Aktuell_az)+1330 02f0 A090 0000 lds r10,NeutralAccZ331 02f4 B090 0000 lds r11,(NeutralAccZ)+1332 02f8 C090 0000 lds r12,(NeutralAccZ)+2333 02fc D090 0000 lds r13,(NeutralAccZ)+3334 0300 6091 0000 lds r22,IntegralAccZ335 0304 7091 0000 lds r23,(IntegralAccZ)+1336 0308 8091 0000 lds r24,(IntegralAccZ)+2337 030c 9091 0000 lds r25,(IntegralAccZ)+3338 0310 0E94 0000 call __floatsisf339 0314 3B01 movw r6,r22340 0316 4C01 movw r8,r24341 0318 0027 clr r16342 031a F7FC sbrc r15,7343 031c 0095 com r16344 031e 102F mov r17,r16345 0320 C801 movw r24,r16346 0322 B701 movw r22,r14347 0324 0E94 0000 call __floatsisf348 0328 A601 movw r20,r12349 032a 9501 movw r18,r10350 032c 0E94 0000 call __subsf3351 0330 9B01 movw r18,r22352 0332 AC01 movw r20,r24353 0334 C401 movw r24,r8354 0336 B301 movw r22,r6355 0338 0E94 0000 call __addsf3356 033c 0E94 0000 call __fixsfsi357 0340 6093 0000 sts IntegralAccZ,r22358 0344 7093 0000 sts (IntegralAccZ)+1,r23359 0348 8093 0000 sts (IntegralAccZ)+2,r24360 034c 9093 0000 sts (IntegralAccZ)+3,r25361 0350 8FEC ldi r24,lo8(-49)362 0352 8093 7A00 sts 122,r24363 0356 1092 0000 sts AdReady,__zero_reg__364 035a 8091 0000 lds r24,Mess_IntegralRoll365 035e 9091 0000 lds r25,(Mess_IntegralRoll)+1366 0362 A091 0000 lds r26,(Mess_IntegralRoll)+2367 0366 B091 0000 lds r27,(Mess_IntegralRoll)+3368 036a 8F87 std Y+15,r24369 036c 988B std Y+16,r25370 036e A98B std Y+17,r26371 0370 BA8B std Y+18,r27372 0372 8091 0000 lds r24,Mess_IntegralNick373 0376 9091 0000 lds r25,(Mess_IntegralNick)+1374 037a A091 0000 lds r26,(Mess_IntegralNick)+2375 037e B091 0000 lds r27,(Mess_IntegralNick)+3376 0382 8B87 std Y+11,r24377 0384 9C87 std Y+12,r25378 0386 AD87 std Y+13,r26379 0388 BE87 std Y+14,r27380 038a 3201 movw r6,r4381 038c 8824 clr r8382 038e 77FC sbrc r7,7383 0390 8094 com r8384 0392 982C mov r9,r8385 0394 8091 0000 lds r24,Mess_Integral_Gier386 0398 9091 0000 lds r25,(Mess_Integral_Gier)+1387 039c A091 0000 lds r26,(Mess_Integral_Gier)+2388 03a0 B091 0000 lds r27,(Mess_Integral_Gier)+3389 03a4 860D add r24,r6390 03a6 971D adc r25,r7391 03a8 A81D adc r26,r8392 03aa B91D adc r27,r9393 03ac 8E8B std Y+22,r24394 03ae 9F8B std Y+23,r25395 03b0 A88F std Y+24,r26396 03b2 B98F std Y+25,r27397 03b4 8093 0000 sts Mess_Integral_Gier,r24398 03b8 9093 0000 sts (Mess_Integral_Gier)+1,r25399 03bc A093 0000 sts (Mess_Integral_Gier)+2,r26400 03c0 B093 0000 sts (Mess_Integral_Gier)+3,r27401 03c4 2090 0000 lds r2,ErsatzKompass402 03c8 3090 0000 lds r3,(ErsatzKompass)+1403 03cc 4090 0000 lds r4,(ErsatzKompass)+2404 03d0 5090 0000 lds r5,(ErsatzKompass)+3405 03d4 260C add r2,r6406 03d6 371C adc r3,r7407 03d8 481C adc r4,r8408 03da 591C adc r5,r9409 03dc 2092 0000 sts ErsatzKompass,r2410 03e0 3092 0000 sts (ErsatzKompass)+1,r3411 03e4 4092 0000 sts (ErsatzKompass)+2,r4412 03e8 5092 0000 sts (ErsatzKompass)+3,r5413 03ec 9091 0000 lds r25,Looping_Nick414 03f0 9A87 std Y+10,r25415 03f2 9923 tst r25416 03f4 01F4 brne .L14417 03f6 8091 0000 lds r24,Looping_Roll418 03fa 8823 tst r24419 03fc 01F4 brne .+2420 03fe 00C0 rjmp .L148421 .L14:422 0400 A091 0000 lds r26,EE_Parameter+8423 0404 A983 std Y+1,r26424 .L18:425 0406 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__426 040a 1092 0000 sts KopplungsteilRollNick,__zero_reg__427 040e 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__428 0412 1092 0000 sts KopplungsteilNickRoll,__zero_reg__429 0416 1092 0000 sts tmpl2.2653,__zero_reg__430 041a 1092 0000 sts (tmpl2.2653)+1,__zero_reg__431 041e 1092 0000 sts (tmpl2.2653)+2,__zero_reg__432 0422 1092 0000 sts (tmpl2.2653)+3,__zero_reg__433 0426 1092 0000 sts tmpl.2652,__zero_reg__434 042a 1092 0000 sts (tmpl.2652)+1,__zero_reg__435 042e 1092 0000 sts (tmpl.2652)+2,__zero_reg__436 0432 1092 0000 sts (tmpl.2652)+3,__zero_reg__437 0436 B091 0000 lds r27,Parameter_CouplingYawCorrection438 043a BD8B std Y+21,r27439 .L29:440 043c E090 0000 lds r14,tmpl.2652441 0440 F090 0000 lds r15,(tmpl.2652)+1442 0444 0091 0000 lds r16,(tmpl.2652)+2443 0448 1091 0000 lds r17,(tmpl.2652)+3444 044c A090 0000 lds r10,tmpl2.2653445 0450 B090 0000 lds r11,(tmpl2.2653)+1446 0454 C090 0000 lds r12,(tmpl2.2653)+2447 0458 D090 0000 lds r13,(tmpl2.2653)+3448 045c C601 movw r24,r12449 045e B501 movw r22,r10450 0460 24E6 ldi r18,lo8(100)451 0462 30E0 ldi r19,hi8(100)452 0464 40E0 ldi r20,hlo8(100)453 0466 50E0 ldi r21,hhi8(100)454 0468 0E94 0000 call __divmodsi4455 046c 4701 movw r8,r14456 046e 821A sub r8,r18457 0470 930A sbc r9,r19458 0472 9092 0000 sts (TrimRoll)+1,r9459 0476 8092 0000 sts TrimRoll,r8460 047a C801 movw r24,r16461 047c B701 movw r22,r14462 047e 24E6 ldi r18,lo8(100)463 0480 30E0 ldi r19,hi8(100)464 0482 40E0 ldi r20,hlo8(100)465 0484 50E0 ldi r21,hhi8(100)466 0486 0E94 0000 call __divmodsi4467 048a 3901 movw r6,r18468 048c 6A18 sub r6,r10469 048e 7B08 sbc r7,r11470 0490 7092 0000 sts (TrimNick)+1,r7471 0494 6092 0000 sts TrimNick,r6472 0498 6091 0000 lds r22,GIER_GRAD_FAKTOR473 049c 7091 0000 lds r23,(GIER_GRAD_FAKTOR)+1474 04a0 8091 0000 lds r24,(GIER_GRAD_FAKTOR)+2475 04a4 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+3476 04a8 28E6 ldi r18,lo8(360)477 04aa 31E0 ldi r19,hi8(360)478 04ac 40E0 ldi r20,hlo8(360)479 04ae 50E0 ldi r21,hhi8(360)480 04b0 0E94 0000 call __mulsi3481 04b4 2616 cp r2,r22482 04b6 3706 cpc r3,r23483 04b8 4806 cpc r4,r24484 04ba 5906 cpc r5,r25485 04bc 04F0 brlt .L31486 04be 261A sub r2,r22487 04c0 370A sbc r3,r23488 04c2 480A sbc r4,r24489 04c4 590A sbc r5,r25490 04c6 2092 0000 sts ErsatzKompass,r2491 04ca 3092 0000 sts (ErsatzKompass)+1,r3492 04ce 4092 0000 sts (ErsatzKompass)+2,r4493 04d2 5092 0000 sts (ErsatzKompass)+3,r5494 .L31:495 04d6 57FC sbrc r5,7496 04d8 00C0 rjmp .L149497 .L33:498 04da 6B89 ldd r22,Y+19499 04dc 7C89 ldd r23,Y+20500 04de 680D add r22,r8501 04e0 791D adc r23,r9502 04e2 9B01 movw r18,r22503 04e4 4427 clr r20504 04e6 37FD sbrc r19,7505 04e8 4095 com r20506 04ea 542F mov r21,r20507 04ec 8091 0000 lds r24,Mess_IntegralRoll2508 04f0 9091 0000 lds r25,(Mess_IntegralRoll2)+1509 04f4 A091 0000 lds r26,(Mess_IntegralRoll2)+2510 04f8 B091 0000 lds r27,(Mess_IntegralRoll2)+3511 04fc 820F add r24,r18512 04fe 931F adc r25,r19513 0500 A41F adc r26,r20514 0502 B51F adc r27,r21515 0504 8093 0000 sts Mess_IntegralRoll2,r24516 0508 9093 0000 sts (Mess_IntegralRoll2)+1,r25517 050c A093 0000 sts (Mess_IntegralRoll2)+2,r26518 0510 B093 0000 sts (Mess_IntegralRoll2)+3,r27519 0514 8091 0000 lds r24,LageKorrekturRoll520 0518 9091 0000 lds r25,(LageKorrekturRoll)+1521 051c 681B sub r22,r24522 051e 790B sbc r23,r25523 0520 7B01 movw r14,r22524 0522 0027 clr r16525 0524 F7FC sbrc r15,7526 0526 0095 com r16527 0528 102F mov r17,r16528 052a 8F85 ldd r24,Y+15529 052c 9889 ldd r25,Y+16530 052e A989 ldd r26,Y+17531 0530 BA89 ldd r27,Y+18532 0532 E80E add r14,r24533 0534 F91E adc r15,r25534 0536 0A1F adc r16,r26535 0538 1B1F adc r17,r27536 053a E092 0000 sts Mess_IntegralRoll,r14537 053e F092 0000 sts (Mess_IntegralRoll)+1,r15538 0542 0093 0000 sts (Mess_IntegralRoll)+2,r16539 0546 1093 0000 sts (Mess_IntegralRoll)+3,r17540 054a 2091 0000 lds r18,Umschlag180Roll541 054e 3091 0000 lds r19,(Umschlag180Roll)+1542 0552 4091 0000 lds r20,(Umschlag180Roll)+2543 0556 5091 0000 lds r21,(Umschlag180Roll)+3544 055a 2E15 cp r18,r14545 055c 3F05 cpc r19,r15546 055e 4007 cpc r20,r16547 0560 5107 cpc r21,r17548 0562 04F4 brge .L35549 0564 78EA ldi r23,lo8(25000)550 0566 E72E mov r14,r23551 0568 71E6 ldi r23,hi8(25000)552 056a F72E mov r15,r23553 056c 012D mov r16,__zero_reg__554 056e 112D mov r17,__zero_reg__555 0570 E21A sub r14,r18556 0572 F30A sbc r15,r19557 0574 040B sbc r16,r20558 0576 150B sbc r17,r21559 0578 E092 0000 sts Mess_IntegralRoll,r14560 057c F092 0000 sts (Mess_IntegralRoll)+1,r15561 0580 0093 0000 sts (Mess_IntegralRoll)+2,r16562 0584 1093 0000 sts (Mess_IntegralRoll)+3,r17563 0588 E092 0000 sts Mess_IntegralRoll2,r14564 058c F092 0000 sts (Mess_IntegralRoll2)+1,r15565 0590 0093 0000 sts (Mess_IntegralRoll2)+2,r16566 0594 1093 0000 sts (Mess_IntegralRoll2)+3,r17567 .L35:568 0598 8827 clr r24569 059a 9927 clr r25570 059c DC01 movw r26,r24571 059e 821B sub r24,r18572 05a0 930B sbc r25,r19573 05a2 A40B sbc r26,r20574 05a4 B50B sbc r27,r21575 05a6 E090 0000 lds r14,Mess_IntegralRoll576 05aa F090 0000 lds r15,(Mess_IntegralRoll)+1577 05ae 0091 0000 lds r16,(Mess_IntegralRoll)+2578 05b2 1091 0000 lds r17,(Mess_IntegralRoll)+3579 05b6 E816 cp r14,r24580 05b8 F906 cpc r15,r25581 05ba 0A07 cpc r16,r26582 05bc 1B07 cpc r17,r27583 05be 04F4 brge .L37584 05c0 68E5 ldi r22,lo8(-25000)585 05c2 E62E mov r14,r22586 05c4 6EE9 ldi r22,hi8(-25000)587 05c6 F62E mov r15,r22588 05c8 6FEF ldi r22,hlo8(-25000)589 05ca 062F mov r16,r22590 05cc 6FEF ldi r22,hhi8(-25000)591 05ce 162F mov r17,r22592 05d0 E20E add r14,r18593 05d2 F31E adc r15,r19594 05d4 041F adc r16,r20595 05d6 151F adc r17,r21596 05d8 E092 0000 sts Mess_IntegralRoll,r14597 05dc F092 0000 sts (Mess_IntegralRoll)+1,r15598 05e0 0093 0000 sts (Mess_IntegralRoll)+2,r16599 05e4 1093 0000 sts (Mess_IntegralRoll)+3,r17600 05e8 E092 0000 sts Mess_IntegralRoll2,r14601 05ec F092 0000 sts (Mess_IntegralRoll2)+1,r15602 05f0 0093 0000 sts (Mess_IntegralRoll2)+2,r16603 05f4 1093 0000 sts (Mess_IntegralRoll2)+3,r17604 .L37:605 05f8 6A8D ldd r22,Y+26606 05fa 7B8D ldd r23,Y+27607 05fc 660D add r22,r6608 05fe 771D adc r23,r7609 0600 9B01 movw r18,r22610 0602 4427 clr r20611 0604 37FD sbrc r19,7612 0606 4095 com r20613 0608 542F mov r21,r20614 060a 8091 0000 lds r24,Mess_IntegralNick2615 060e 9091 0000 lds r25,(Mess_IntegralNick2)+1616 0612 A091 0000 lds r26,(Mess_IntegralNick2)+2617 0616 B091 0000 lds r27,(Mess_IntegralNick2)+3618 061a 820F add r24,r18619 061c 931F adc r25,r19620 061e A41F adc r26,r20621 0620 B51F adc r27,r21622 0622 8093 0000 sts Mess_IntegralNick2,r24623 0626 9093 0000 sts (Mess_IntegralNick2)+1,r25624 062a A093 0000 sts (Mess_IntegralNick2)+2,r26625 062e B093 0000 sts (Mess_IntegralNick2)+3,r27626 0632 8091 0000 lds r24,LageKorrekturNick627 0636 9091 0000 lds r25,(LageKorrekturNick)+1628 063a 681B sub r22,r24629 063c 790B sbc r23,r25630 063e 9B01 movw r18,r22631 0640 4427 clr r20632 0642 37FD sbrc r19,7633 0644 4095 com r20634 0646 542F mov r21,r20635 0648 8B85 ldd r24,Y+11636 064a 9C85 ldd r25,Y+12637 064c AD85 ldd r26,Y+13638 064e BE85 ldd r27,Y+14639 0650 280F add r18,r24640 0652 391F adc r19,r25641 0654 4A1F adc r20,r26642 0656 5B1F adc r21,r27643 0658 2093 0000 sts Mess_IntegralNick,r18644 065c 3093 0000 sts (Mess_IntegralNick)+1,r19645 0660 4093 0000 sts (Mess_IntegralNick)+2,r20646 0664 5093 0000 sts (Mess_IntegralNick)+3,r21647 0668 A090 0000 lds r10,Umschlag180Nick648 066c B090 0000 lds r11,(Umschlag180Nick)+1649 0670 C090 0000 lds r12,(Umschlag180Nick)+2650 0674 D090 0000 lds r13,(Umschlag180Nick)+3651 0678 A216 cp r10,r18652 067a B306 cpc r11,r19653 067c C406 cpc r12,r20654 067e D506 cpc r13,r21655 0680 04F4 brge .L39656 0682 28EA ldi r18,lo8(25000)657 0684 31E6 ldi r19,hi8(25000)658 0686 40E0 ldi r20,hlo8(25000)659 0688 50E0 ldi r21,hhi8(25000)660 068a 2A19 sub r18,r10661 068c 3B09 sbc r19,r11662 068e 4C09 sbc r20,r12663 0690 5D09 sbc r21,r13664 0692 2093 0000 sts Mess_IntegralNick,r18665 0696 3093 0000 sts (Mess_IntegralNick)+1,r19666 069a 4093 0000 sts (Mess_IntegralNick)+2,r20667 069e 5093 0000 sts (Mess_IntegralNick)+3,r21668 06a2 2093 0000 sts Mess_IntegralNick2,r18669 06a6 3093 0000 sts (Mess_IntegralNick2)+1,r19670 06aa 4093 0000 sts (Mess_IntegralNick2)+2,r20671 06ae 5093 0000 sts (Mess_IntegralNick2)+3,r21672 .L39:673 06b2 8827 clr r24674 06b4 9927 clr r25675 06b6 DC01 movw r26,r24676 06b8 8A19 sub r24,r10677 06ba 9B09 sbc r25,r11678 06bc AC09 sbc r26,r12679 06be BD09 sbc r27,r13680 06c0 2091 0000 lds r18,Mess_IntegralNick681 06c4 3091 0000 lds r19,(Mess_IntegralNick)+1682 06c8 4091 0000 lds r20,(Mess_IntegralNick)+2683 06cc 5091 0000 lds r21,(Mess_IntegralNick)+3684 06d0 2817 cp r18,r24685 06d2 3907 cpc r19,r25686 06d4 4A07 cpc r20,r26687 06d6 5B07 cpc r21,r27688 06d8 04F4 brge .L41689 06da A601 movw r20,r12690 06dc 9501 movw r18,r10691 06de 285A subi r18,lo8(-(-25000))692 06e0 3146 sbci r19,hi8(-(-25000))693 06e2 4040 sbci r20,hlo8(-(-25000))694 06e4 5040 sbci r21,hhi8(-(-25000))695 06e6 2093 0000 sts Mess_IntegralNick,r18696 06ea 3093 0000 sts (Mess_IntegralNick)+1,r19697 06ee 4093 0000 sts (Mess_IntegralNick)+2,r20698 06f2 5093 0000 sts (Mess_IntegralNick)+3,r21699 06f6 2093 0000 sts Mess_IntegralNick2,r18700 06fa 3093 0000 sts (Mess_IntegralNick2)+1,r19701 06fe 4093 0000 sts (Mess_IntegralNick2)+2,r20702 0702 5093 0000 sts (Mess_IntegralNick2)+3,r21703 .L41:704 0706 8E89 ldd r24,Y+22705 0708 9F89 ldd r25,Y+23706 070a A88D ldd r26,Y+24707 070c B98D ldd r27,Y+25708 070e 8093 0000 sts Integral_Gier,r24709 0712 9093 0000 sts (Integral_Gier)+1,r25710 0716 A093 0000 sts (Integral_Gier)+2,r26711 071a B093 0000 sts (Integral_Gier)+3,r27712 071e 2093 0000 sts IntegralNick,r18713 0722 3093 0000 sts (IntegralNick)+1,r19714 0726 4093 0000 sts (IntegralNick)+2,r20715 072a 5093 0000 sts (IntegralNick)+3,r21716 072e E092 0000 sts IntegralRoll,r14717 0732 F092 0000 sts (IntegralRoll)+1,r15718 0736 0093 0000 sts (IntegralRoll)+2,r16719 073a 1093 0000 sts (IntegralRoll)+3,r17720 073e 8091 0000 lds r24,Mess_IntegralNick2721 0742 9091 0000 lds r25,(Mess_IntegralNick2)+1722 0746 A091 0000 lds r26,(Mess_IntegralNick2)+2723 074a B091 0000 lds r27,(Mess_IntegralNick2)+3724 074e 8093 0000 sts IntegralNick2,r24725 0752 9093 0000 sts (IntegralNick2)+1,r25726 0756 A093 0000 sts (IntegralNick2)+2,r26727 075a B093 0000 sts (IntegralNick2)+3,r27728 075e 8091 0000 lds r24,Mess_IntegralRoll2729 0762 9091 0000 lds r25,(Mess_IntegralRoll2)+1730 0766 A091 0000 lds r26,(Mess_IntegralRoll2)+2731 076a B091 0000 lds r27,(Mess_IntegralRoll2)+3732 076e 8093 0000 sts IntegralRoll2,r24733 0772 9093 0000 sts (IntegralRoll2)+1,r25734 0776 A093 0000 sts (IntegralRoll2)+2,r26735 077a B093 0000 sts (IntegralRoll2)+3,r27736 077e 8091 0000 lds r24,HiResNick737 0782 9091 0000 lds r25,(HiResNick)+1738 0786 97FD sbrc r25,7739 0788 00C0 rjmp .L150740 .L43:741 078a 9595 asr r25742 078c 8795 ror r24743 078e 9595 asr r25744 0790 8795 ror r24745 0792 9595 asr r25746 0794 8795 ror r24747 0796 9093 0000 sts (MesswertNick)+1,r25748 079a 8093 0000 sts MesswertNick,r24749 079e 8091 0000 lds r24,HiResRoll750 07a2 9091 0000 lds r25,(HiResRoll)+1751 07a6 97FD sbrc r25,7752 07a8 00C0 rjmp .L151753 .L44:754 07aa 9595 asr r25755 07ac 8795 ror r24756 07ae 9595 asr r25757 07b0 8795 ror r24758 07b2 9595 asr r25759 07b4 8795 ror r24760 07b6 9093 0000 sts (MesswertRoll)+1,r25761 07ba 8093 0000 sts MesswertRoll,r24762 07be 8091 0000 lds r24,AdWertNick763 07c2 9091 0000 lds r25,(AdWertNick)+1764 07c6 0F97 sbiw r24,15765 07c8 04F4 brge .L45766 07ca 88E1 ldi r24,lo8(-1000)767 07cc 9CEF ldi r25,hi8(-1000)768 07ce 9093 0000 sts (MesswertNick)+1,r25769 07d2 8093 0000 sts MesswertNick,r24770 .L45:771 07d6 8091 0000 lds r24,AdWertNick772 07da 9091 0000 lds r25,(AdWertNick)+1773 07de 0797 sbiw r24,7774 07e0 04F4 brge .L47775 07e2 80E3 ldi r24,lo8(-2000)776 07e4 98EF ldi r25,hi8(-2000)777 07e6 9093 0000 sts (MesswertNick)+1,r25778 07ea 8093 0000 sts MesswertNick,r24779 .L47:780 07ee 2091 0000 lds r18,PlatinenVersion781 07f2 2A30 cpi r18,lo8(10)782 07f4 01F4 brne .+2783 07f6 00C0 rjmp .L152784 07f8 8091 0000 lds r24,AdWertNick785 07fc 9091 0000 lds r25,(AdWertNick)+1786 0800 815D subi r24,lo8(2001)787 0802 9740 sbci r25,hi8(2001)788 0804 04F0 brlt .L55789 0806 88EE ldi r24,lo8(1000)790 0808 93E0 ldi r25,hi8(1000)791 080a 9093 0000 sts (MesswertNick)+1,r25792 080e 8093 0000 sts MesswertNick,r24793 .L55:794 0812 8091 0000 lds r24,AdWertNick795 0816 9091 0000 lds r25,(AdWertNick)+1796 081a 805E subi r24,lo8(2016)797 081c 9740 sbci r25,hi8(2016)798 081e 04F0 brlt .+2799 0820 00C0 rjmp .L144800 .L53:801 0822 8091 0000 lds r24,AdWertRoll802 0826 9091 0000 lds r25,(AdWertRoll)+1803 082a 0F97 sbiw r24,15804 082c 04F4 brge .L58805 082e 88E1 ldi r24,lo8(-1000)806 0830 9CEF ldi r25,hi8(-1000)807 0832 9093 0000 sts (MesswertRoll)+1,r25808 0836 8093 0000 sts MesswertRoll,r24809 .L58:810 083a 8091 0000 lds r24,AdWertRoll811 083e 9091 0000 lds r25,(AdWertRoll)+1812 0842 0797 sbiw r24,7813 0844 04F4 brge .L60814 0846 80E3 ldi r24,lo8(-2000)815 0848 98EF ldi r25,hi8(-2000)816 084a 9093 0000 sts (MesswertRoll)+1,r25817 084e 8093 0000 sts MesswertRoll,r24818 .L60:819 0852 2A30 cpi r18,lo8(10)820 0854 01F4 brne .+2821 0856 00C0 rjmp .L153822 0858 8091 0000 lds r24,AdWertRoll823 085c 9091 0000 lds r25,(AdWertRoll)+1824 0860 815D subi r24,lo8(2001)825 0862 9740 sbci r25,hi8(2001)826 0864 04F0 brlt .L68827 0866 88EE ldi r24,lo8(1000)828 0868 93E0 ldi r25,hi8(1000)829 086a 9093 0000 sts (MesswertRoll)+1,r25830 086e 8093 0000 sts MesswertRoll,r24831 .L68:832 0872 8091 0000 lds r24,AdWertRoll833 0876 9091 0000 lds r25,(AdWertRoll)+1834 087a 805E subi r24,lo8(2016)835 087c 9740 sbci r25,hi8(2016)836 087e 04F0 brlt .+2837 0880 00C0 rjmp .L145838 .L66:839 0882 6091 0000 lds r22,Parameter_Gyro_D840 0886 6623 tst r22841 0888 01F4 brne .+2842 088a 00C0 rjmp .L71843 088c 4091 0000 lds r20,HiResNick844 0890 5091 0000 lds r21,(HiResNick)+1845 0894 8091 0000 lds r24,oldNick.2656846 0898 9091 0000 lds r25,(oldNick.2656)+1847 089c 481B sub r20,r24848 089e 590B sbc r21,r25849 08a0 5093 0000 sts (d2Nick.2659)+1,r21850 08a4 4093 0000 sts d2Nick.2659,r20851 08a8 2091 0000 lds r18,HiResNick852 08ac 3091 0000 lds r19,(HiResNick)+1853 08b0 280F add r18,r24854 08b2 391F adc r19,r25855 08b4 37FD sbrc r19,7856 08b6 00C0 rjmp .L154857 .L73:858 08b8 3595 asr r19859 08ba 2795 ror r18860 08bc 3093 0000 sts (oldNick.2656)+1,r19861 08c0 2093 0000 sts oldNick.2656,r18862 08c4 4138 cpi r20,129863 08c6 5105 cpc r21,__zero_reg__864 08c8 04F4 brge .+2865 08ca 00C0 rjmp .L74866 08cc 80E8 ldi r24,lo8(128)867 08ce 90E0 ldi r25,hi8(128)868 08d0 9093 0000 sts (d2Nick.2659)+1,r25869 08d4 8093 0000 sts d2Nick.2659,r24870 .L76:871 08d8 E62F mov r30,r22872 08da F0E0 ldi r31,lo8(0)873 08dc 8091 0000 lds r24,d2Nick.2659874 08e0 9091 0000 lds r25,(d2Nick.2659)+1875 08e4 E89F mul r30,r24876 08e6 B001 movw r22,r0877 08e8 E99F mul r30,r25878 08ea 700D add r23,r0879 08ec F89F mul r31,r24880 08ee 700D add r23,r0881 08f0 1124 clr r1882 08f2 9B01 movw r18,r22883 08f4 77FD sbrc r23,7884 08f6 00C0 rjmp .L155885 .L78:886 08f8 3595 asr r19887 08fa 2795 ror r18888 08fc 3595 asr r19889 08fe 2795 ror r18890 0900 3595 asr r19891 0902 2795 ror r18892 0904 3595 asr r19893 0906 2795 ror r18894 0908 8091 0000 lds r24,MesswertNick895 090c 9091 0000 lds r25,(MesswertNick)+1896 0910 820F add r24,r18897 0912 931F adc r25,r19898 0914 9093 0000 sts (MesswertNick)+1,r25899 0918 8093 0000 sts MesswertNick,r24900 091c 4091 0000 lds r20,HiResRoll901 0920 5091 0000 lds r21,(HiResRoll)+1902 0924 8091 0000 lds r24,oldRoll.2657903 0928 9091 0000 lds r25,(oldRoll.2657)+1904 092c 481B sub r20,r24905 092e 590B sbc r21,r25906 0930 5093 0000 sts (d2Roll.2658)+1,r21907 0934 4093 0000 sts d2Roll.2658,r20908 0938 2091 0000 lds r18,HiResRoll909 093c 3091 0000 lds r19,(HiResRoll)+1910 0940 280F add r18,r24911 0942 391F adc r19,r25912 0944 37FD sbrc r19,7913 0946 00C0 rjmp .L156914 .L79:915 0948 3595 asr r19916 094a 2795 ror r18917 094c 3093 0000 sts (oldRoll.2657)+1,r19918 0950 2093 0000 sts oldRoll.2657,r18919 0954 4138 cpi r20,129920 0956 5105 cpc r21,__zero_reg__921 0958 04F4 brge .+2922 095a 00C0 rjmp .L80923 095c 80E8 ldi r24,lo8(128)924 095e 90E0 ldi r25,hi8(128)925 0960 9093 0000 sts (d2Roll.2658)+1,r25926 0964 8093 0000 sts d2Roll.2658,r24927 .L82:928 0968 8091 0000 lds r24,d2Roll.2658929 096c 9091 0000 lds r25,(d2Roll.2658)+1930 0970 E89F mul r30,r24931 0972 A001 movw r20,r0932 0974 E99F mul r30,r25933 0976 500D add r21,r0934 0978 F89F mul r31,r24935 097a 500D add r21,r0936 097c 1124 clr r1937 097e 9A01 movw r18,r20938 0980 57FD sbrc r21,7939 0982 00C0 rjmp .L157940 .L84:941 0984 3595 asr r19942 0986 2795 ror r18943 0988 3595 asr r19944 098a 2795 ror r18945 098c 3595 asr r19946 098e 2795 ror r18947 0990 3595 asr r19948 0992 2795 ror r18949 0994 8091 0000 lds r24,MesswertRoll950 0998 9091 0000 lds r25,(MesswertRoll)+1951 099c 820F add r24,r18952 099e 931F adc r25,r19953 09a0 9093 0000 sts (MesswertRoll)+1,r25954 09a4 8093 0000 sts MesswertRoll,r24955 09a8 8091 0000 lds r24,HiResNick956 09ac 9091 0000 lds r25,(HiResNick)+1957 09b0 680F add r22,r24958 09b2 791F adc r23,r25959 09b4 7093 0000 sts (HiResNick)+1,r23960 09b8 6093 0000 sts HiResNick,r22961 09bc 8091 0000 lds r24,HiResRoll962 09c0 9091 0000 lds r25,(HiResRoll)+1963 09c4 480F add r20,r24964 09c6 591F adc r21,r25965 09c8 5093 0000 sts (HiResRoll)+1,r21966 09cc 4093 0000 sts HiResRoll,r20967 .L71:968 09d0 8B89 ldd r24,Y+19969 09d2 9C89 ldd r25,Y+20970 09d4 1816 cp __zero_reg__,r24971 09d6 1906 cpc __zero_reg__,r25972 09d8 04F0 brlt .+2973 09da 00C0 rjmp .L85974 09dc 9D89 ldd r25,Y+21975 09de E92E mov r14,r25976 09e0 FF24 clr r15977 09e2 00E0 ldi r16,lo8(0)978 09e4 10E0 ldi r17,hi8(0)979 09e6 6091 0000 lds r22,KopplungsteilNickRoll980 09ea 7091 0000 lds r23,(KopplungsteilNickRoll)+1981 09ee 77FD sbrc r23,7982 09f0 00C0 rjmp .L158983 .L87:984 09f2 8827 clr r24985 09f4 77FD sbrc r23,7986 09f6 8095 com r24987 09f8 982F mov r25,r24988 09fa A801 movw r20,r16989 09fc 9701 movw r18,r14990 09fe 0E94 0000 call __mulsi3991 0a02 20E4 ldi r18,lo8(64)992 0a04 30E0 ldi r19,hi8(64)993 0a06 40E0 ldi r20,hlo8(64)994 0a08 50E0 ldi r21,hhi8(64)995 0a0a 0E94 0000 call __divmodsi4996 0a0e 820E add r8,r18997 0a10 931E adc r9,r19998 0a12 9092 0000 sts (TrimRoll)+1,r9999 0a16 8092 0000 sts TrimRoll,r81000 0a1a EA8D ldd r30,Y+261001 0a1c FB8D ldd r31,Y+271002 0a1e 1E16 cp __zero_reg__,r301003 0a20 1F06 cpc __zero_reg__,r311004 0a22 04F0 brlt .+21005 0a24 00C0 rjmp .L901006 .L171:1007 0a26 2091 0000 lds r18,KopplungsteilRollNick1008 0a2a 3091 0000 lds r19,(KopplungsteilRollNick)+11009 0a2e 37FD sbrc r19,71010 0a30 00C0 rjmp .L1591011 .L92:1012 0a32 4427 clr r201013 0a34 37FD sbrc r19,71014 0a36 4095 com r201015 0a38 542F mov r21,r201016 0a3a C801 movw r24,r161017 0a3c B701 movw r22,r141018 0a3e 0E94 0000 call __mulsi31019 0a42 20E4 ldi r18,lo8(64)1020 0a44 30E0 ldi r19,hi8(64)1021 0a46 40E0 ldi r20,hlo8(64)1022 0a48 50E0 ldi r21,hhi8(64)1023 0a4a 0E94 0000 call __divmodsi41024 0a4e 620E add r6,r181025 0a50 731E adc r7,r191026 0a52 7092 0000 sts (TrimNick)+1,r71027 0a56 6092 0000 sts TrimNick,r61028 0a5a F981 ldd r31,Y+11029 0a5c F7FD sbrc r31,71030 0a5e 00C0 rjmp .L1601031 .L95:1032 0a60 8091 0000 lds r24,EE_Parameter+41033 0a64 E82F mov r30,r241034 0a66 F0E0 ldi r31,lo8(0)1035 0a68 EE0F lsl r301036 0a6a FF1F rol r311037 0a6c E050 subi r30,lo8(-(PPM_in))1038 0a6e F040 sbci r31,hi8(-(PPM_in))1039 0a70 8081 ld r24,Z1040 0a72 9181 ldd r25,Z+11041 0a74 A091 0000 lds r26,Poti11042 0a78 B091 0000 lds r27,(Poti1)+11043 0a7c 8259 subi r24,lo8(-(110))1044 0a7e 9F4F sbci r25,hi8(-(110))1045 0a80 A817 cp r26,r241046 0a82 B907 cpc r27,r251047 0a84 04F0 brlt .+21048 0a86 00C0 rjmp .L1061049 0a88 1196 adiw r26,11050 0a8a B093 0000 sts (Poti1)+1,r271051 0a8e A093 0000 sts Poti1,r261052 .L108:1053 0a92 8091 0000 lds r24,EE_Parameter+51054 0a96 E82F mov r30,r241055 0a98 F0E0 ldi r31,lo8(0)1056 0a9a EE0F lsl r301057 0a9c FF1F rol r311058 0a9e E050 subi r30,lo8(-(PPM_in))1059 0aa0 F040 sbci r31,hi8(-(PPM_in))1060 0aa2 8081 ld r24,Z1061 0aa4 9181 ldd r25,Z+11062 0aa6 6091 0000 lds r22,Poti21063 0aaa 7091 0000 lds r23,(Poti2)+11064 0aae 8259 subi r24,lo8(-(110))1065 0ab0 9F4F sbci r25,hi8(-(110))1066 0ab2 6817 cp r22,r241067 0ab4 7907 cpc r23,r251068 0ab6 04F0 brlt .+21069 0ab8 00C0 rjmp .L1111070 0aba 6F5F subi r22,lo8(-(1))1071 0abc 7F4F sbci r23,hi8(-(1))1072 0abe 7093 0000 sts (Poti2)+1,r231073 0ac2 6093 0000 sts Poti2,r221074 .L113:1075 0ac6 8091 0000 lds r24,EE_Parameter+61076 0aca E82F mov r30,r241077 0acc F0E0 ldi r31,lo8(0)1078 0ace EE0F lsl r301079 0ad0 FF1F rol r311080 0ad2 E050 subi r30,lo8(-(PPM_in))1081 0ad4 F040 sbci r31,hi8(-(PPM_in))1082 0ad6 8081 ld r24,Z1083 0ad8 9181 ldd r25,Z+11084 0ada 4091 0000 lds r20,Poti31085 0ade 5091 0000 lds r21,(Poti3)+11086 0ae2 8259 subi r24,lo8(-(110))1087 0ae4 9F4F sbci r25,hi8(-(110))1088 0ae6 4817 cp r20,r241089 0ae8 5907 cpc r21,r251090 0aea 04F0 brlt .+21091 0aec 00C0 rjmp .L1161092 0aee 4F5F subi r20,lo8(-(1))1093 0af0 5F4F sbci r21,hi8(-(1))1094 0af2 5093 0000 sts (Poti3)+1,r211095 0af6 4093 0000 sts Poti3,r201096 .L118:1097 0afa 8091 0000 lds r24,EE_Parameter+71098 0afe E82F mov r30,r241099 0b00 F0E0 ldi r31,lo8(0)1100 0b02 EE0F lsl r301101 0b04 FF1F rol r311102 0b06 E050 subi r30,lo8(-(PPM_in))1103 0b08 F040 sbci r31,hi8(-(PPM_in))1104 0b0a 8081 ld r24,Z1105 0b0c 9181 ldd r25,Z+11106 0b0e 2091 0000 lds r18,Poti41107 0b12 3091 0000 lds r19,(Poti4)+11108 0b16 8259 subi r24,lo8(-(110))1109 0b18 9F4F sbci r25,hi8(-(110))1110 0b1a 2817 cp r18,r241111 0b1c 3907 cpc r19,r251112 0b1e 04F0 brlt .+21113 0b20 00C0 rjmp .L1211114 0b22 2F5F subi r18,lo8(-(1))1115 0b24 3F4F sbci r19,hi8(-(1))1116 0b26 3093 0000 sts (Poti4)+1,r191117 0b2a 2093 0000 sts Poti4,r181118 .L123:1119 0b2e B7FD sbrc r27,71120 0b30 00C0 rjmp .L1611121 .L126:1122 0b32 AF3F cpi r26,2551123 0b34 B105 cpc r27,__zero_reg__1124 0b36 01F0 breq .+41125 0b38 04F0 brlt .+21126 0b3a 00C0 rjmp .L1621127 .L128:1128 0b3c 77FD sbrc r23,71129 0b3e 00C0 rjmp .L1631130 .L130:1131 0b40 6F3F cpi r22,2551132 0b42 7105 cpc r23,__zero_reg__1133 0b44 01F0 breq .+41134 0b46 04F0 brlt .+21135 0b48 00C0 rjmp .L1641136 .L132:1137 0b4a 57FD sbrc r21,71138 0b4c 00C0 rjmp .L1651139 .L134:1140 0b4e 4F3F cpi r20,2551141 0b50 5105 cpc r21,__zero_reg__1142 0b52 01F0 breq .+41143 0b54 04F0 brlt .+21144 0b56 00C0 rjmp .L1661145 .L136:1146 0b58 37FD sbrc r19,71147 0b5a 00C0 rjmp .L1671148 .L138:1149 0b5c 2F3F cpi r18,2551150 0b5e 3105 cpc r19,__zero_reg__1151 0b60 01F0 breq .+21152 0b62 04F4 brge .+21153 0b64 00C0 rjmp .L1421154 0b66 8FEF ldi r24,lo8(255)1155 0b68 90E0 ldi r25,hi8(255)1156 0b6a 9093 0000 sts (Poti4)+1,r251157 0b6e 8093 0000 sts Poti4,r241158 0b72 00C0 rjmp .L1421159 .L153:1160 0b74 8091 0000 lds r24,AdWertRoll1161 0b78 9091 0000 lds r25,(AdWertRoll)+11162 0b7c 835F subi r24,lo8(1011)1163 0b7e 9340 sbci r25,hi8(1011)1164 0b80 04F0 brlt .L641165 0b82 88EE ldi r24,lo8(1000)1166 0b84 93E0 ldi r25,hi8(1000)1167 0b86 9093 0000 sts (MesswertRoll)+1,r251168 0b8a 8093 0000 sts MesswertRoll,r241169 .L64:1170 0b8e 8091 0000 lds r24,AdWertRoll1171 0b92 9091 0000 lds r25,(AdWertRoll)+11172 0b96 8A5F subi r24,lo8(1018)1173 0b98 9340 sbci r25,hi8(1018)1174 0b9a 04F4 brge .+21175 0b9c 00C0 rjmp .L661176 .L145:1177 0b9e 80ED ldi r24,lo8(2000)1178 0ba0 97E0 ldi r25,hi8(2000)1179 0ba2 9093 0000 sts (MesswertRoll)+1,r251180 0ba6 8093 0000 sts MesswertRoll,r241181 0baa 00C0 rjmp .L661182 .L152:1183 0bac 8091 0000 lds r24,AdWertNick1184 0bb0 9091 0000 lds r25,(AdWertNick)+11185 0bb4 835F subi r24,lo8(1011)1186 0bb6 9340 sbci r25,hi8(1011)1187 0bb8 04F0 brlt .L511188 0bba 88EE ldi r24,lo8(1000)1189 0bbc 93E0 ldi r25,hi8(1000)1190 0bbe 9093 0000 sts (MesswertNick)+1,r251191 0bc2 8093 0000 sts MesswertNick,r241192 .L51:1193 0bc6 8091 0000 lds r24,AdWertNick1194 0bca 9091 0000 lds r25,(AdWertNick)+11195 0bce 8A5F subi r24,lo8(1018)1196 0bd0 9340 sbci r25,hi8(1018)1197 0bd2 04F4 brge .+21198 0bd4 00C0 rjmp .L531199 .L144:1200 0bd6 80ED ldi r24,lo8(2000)1201 0bd8 97E0 ldi r25,hi8(2000)1202 0bda 9093 0000 sts (MesswertNick)+1,r251203 0bde 8093 0000 sts MesswertNick,r241204 0be2 00C0 rjmp .L531205 .L121:1206 0be4 8081 ld r24,Z1207 0be6 9181 ldd r25,Z+11208 0be8 8259 subi r24,lo8(-(110))1209 0bea 9F4F sbci r25,hi8(-(110))1210 0bec 8217 cp r24,r181211 0bee 9307 cpc r25,r191212 0bf0 04F0 brlt .+21213 0bf2 00C0 rjmp .L1231214 0bf4 2115 cp r18,__zero_reg__1215 0bf6 3105 cpc r19,__zero_reg__1216 0bf8 01F4 brne .+21217 0bfa 00C0 rjmp .L1231218 0bfc 2150 subi r18,lo8(-(-1))1219 0bfe 3040 sbci r19,hi8(-(-1))1220 0c00 3093 0000 sts (Poti4)+1,r191221 0c04 2093 0000 sts Poti4,r181222 0c08 B7FF sbrs r27,71223 0c0a 00C0 rjmp .L1261224 .L161:1225 0c0c 1092 0000 sts (Poti1)+1,__zero_reg__1226 0c10 1092 0000 sts Poti1,__zero_reg__1227 0c14 77FF sbrs r23,71228 0c16 00C0 rjmp .L1301229 .L163:1230 0c18 1092 0000 sts (Poti2)+1,__zero_reg__1231 0c1c 1092 0000 sts Poti2,__zero_reg__1232 0c20 57FF sbrs r21,71233 0c22 00C0 rjmp .L1341234 .L165:1235 0c24 1092 0000 sts (Poti3)+1,__zero_reg__1236 0c28 1092 0000 sts Poti3,__zero_reg__1237 0c2c 37FF sbrs r19,71238 0c2e 00C0 rjmp .L1381239 .L167:1240 0c30 1092 0000 sts (Poti4)+1,__zero_reg__1241 0c34 1092 0000 sts Poti4,__zero_reg__1242 0c38 00C0 rjmp .L1421243 .L116:1244 0c3a 8081 ld r24,Z1245 0c3c 9181 ldd r25,Z+11246 0c3e 8259 subi r24,lo8(-(110))1247 0c40 9F4F sbci r25,hi8(-(110))1248 0c42 8417 cp r24,r201249 0c44 9507 cpc r25,r211250 0c46 04F0 brlt .+21251 0c48 00C0 rjmp .L1181252 0c4a 4115 cp r20,__zero_reg__1253 0c4c 5105 cpc r21,__zero_reg__1254 0c4e 01F4 brne .+21255 0c50 00C0 rjmp .L1181256 0c52 4150 subi r20,lo8(-(-1))1257 0c54 5040 sbci r21,hi8(-(-1))1258 0c56 5093 0000 sts (Poti3)+1,r211259 0c5a 4093 0000 sts Poti3,r201260 0c5e 00C0 rjmp .L1181261 .L111:1262 0c60 8081 ld r24,Z1263 0c62 9181 ldd r25,Z+11264 0c64 8259 subi r24,lo8(-(110))1265 0c66 9F4F sbci r25,hi8(-(110))1266 0c68 8617 cp r24,r221267 0c6a 9707 cpc r25,r231268 0c6c 04F0 brlt .+21269 0c6e 00C0 rjmp .L1131270 0c70 6115 cp r22,__zero_reg__1271 0c72 7105 cpc r23,__zero_reg__1272 0c74 01F4 brne .+21273 0c76 00C0 rjmp .L1131274 0c78 6150 subi r22,lo8(-(-1))1275 0c7a 7040 sbci r23,hi8(-(-1))1276 0c7c 7093 0000 sts (Poti2)+1,r231277 0c80 6093 0000 sts Poti2,r221278 0c84 00C0 rjmp .L1131279 .L106:1280 0c86 8081 ld r24,Z1281 0c88 9181 ldd r25,Z+11282 0c8a 8259 subi r24,lo8(-(110))1283 0c8c 9F4F sbci r25,hi8(-(110))1284 0c8e 8A17 cp r24,r261285 0c90 9B07 cpc r25,r271286 0c92 04F0 brlt .+21287 0c94 00C0 rjmp .L1081288 0c96 1097 sbiw r26,01289 0c98 01F4 brne .+21290 0c9a 00C0 rjmp .L1081291 0c9c 1197 sbiw r26,11292 0c9e B093 0000 sts (Poti1)+1,r271293 0ca2 A093 0000 sts Poti1,r261294 0ca6 00C0 rjmp .L1081295 .L166:1296 0ca8 8FEF ldi r24,lo8(255)1297 0caa 90E0 ldi r25,hi8(255)1298 0cac 9093 0000 sts (Poti3)+1,r251299 0cb0 8093 0000 sts Poti3,r241300 0cb4 00C0 rjmp .L1361301 .L164:1302 0cb6 8FEF ldi r24,lo8(255)1303 0cb8 90E0 ldi r25,hi8(255)1304 0cba 9093 0000 sts (Poti2)+1,r251305 0cbe 8093 0000 sts Poti2,r241306 0cc2 00C0 rjmp .L1321307 .L162:1308 0cc4 8FEF ldi r24,lo8(255)1309 0cc6 90E0 ldi r25,hi8(255)1310 0cc8 9093 0000 sts (Poti1)+1,r251311 0ccc 8093 0000 sts Poti1,r241312 0cd0 00C0 rjmp .L1281313 .L74:1314 0cd2 4058 subi r20,lo8(-128)1315 0cd4 5F4F sbci r21,hi8(-128)1316 0cd6 04F0 brlt .+21317 0cd8 00C0 rjmp .L761318 0cda 80E8 ldi r24,lo8(-128)1319 0cdc 9FEF ldi r25,hi8(-128)1320 0cde 9093 0000 sts (d2Nick.2659)+1,r251321 0ce2 8093 0000 sts d2Nick.2659,r241322 0ce6 00C0 rjmp .L761323 .L148:1324 0ce8 B091 0000 lds r27,EE_Parameter+81325 0cec B983 std Y+1,r271326 0cee B6FF sbrs r27,61327 0cf0 00C0 rjmp .L181328 0cf2 2F85 ldd r18,Y+151329 0cf4 3889 ldd r19,Y+161330 0cf6 4989 ldd r20,Y+171331 0cf8 5A89 ldd r21,Y+181332 0cfa 283B cpi r18,lo8(-93000)1333 0cfc E4E9 ldi r30,hi8(-93000)1334 0cfe 3E07 cpc r19,r301335 0d00 EEEF ldi r30,hlo8(-93000)1336 0d02 4E07 cpc r20,r301337 0d04 EFEF ldi r30,hhi8(-93000)1338 0d06 5E07 cpc r21,r301339 0d08 04F4 brge .L201340 0d0a 28EB ldi r18,lo8(-93000)1341 0d0c 34E9 ldi r19,hi8(-93000)1342 0d0e 4EEF ldi r20,hlo8(-93000)1343 0d10 5FEF ldi r21,hhi8(-93000)1344 .L20:1345 0d12 2A83 std Y+2,r181346 0d14 3B83 std Y+3,r191347 0d16 4C83 std Y+4,r201348 0d18 5D83 std Y+5,r211349 0d1a 2954 subi r18,lo8(93001)1350 0d1c 3B46 sbci r19,hi8(93001)1351 0d1e 4140 sbci r20,hlo8(93001)1352 0d20 5040 sbci r21,hhi8(93001)1353 0d22 04F0 brlt .L211354 0d24 88E4 ldi r24,lo8(93000)1355 0d26 9BE6 ldi r25,hi8(93000)1356 0d28 A1E0 ldi r26,hlo8(93000)1357 0d2a B0E0 ldi r27,hhi8(93000)1358 0d2c 8A83 std Y+2,r241359 0d2e 9B83 std Y+3,r251360 0d30 AC83 std Y+4,r261361 0d32 BD83 std Y+5,r271362 .L21:1363 0d34 2B85 ldd r18,Y+111364 0d36 3C85 ldd r19,Y+121365 0d38 4D85 ldd r20,Y+131366 0d3a 5E85 ldd r21,Y+141367 0d3c 283B cpi r18,lo8(-93000)1368 0d3e 94E9 ldi r25,hi8(-93000)1369 0d40 3907 cpc r19,r251370 0d42 9EEF ldi r25,hlo8(-93000)1371 0d44 4907 cpc r20,r251372 0d46 9FEF ldi r25,hhi8(-93000)1373 0d48 5907 cpc r21,r251374 0d4a 04F4 brge .L221375 0d4c 28EB ldi r18,lo8(-93000)1376 0d4e 34E9 ldi r19,hi8(-93000)1377 0d50 4EEF ldi r20,hlo8(-93000)1378 0d52 5FEF ldi r21,hhi8(-93000)1379 .L22:1380 0d54 2E83 std Y+6,r181381 0d56 3F83 std Y+7,r191382 0d58 4887 std Y+8,r201383 0d5a 5987 std Y+9,r211384 0d5c 2954 subi r18,lo8(93001)1385 0d5e 3B46 sbci r19,hi8(93001)1386 0d60 4140 sbci r20,hlo8(93001)1387 0d62 5040 sbci r21,hhi8(93001)1388 0d64 04F0 brlt .L231389 0d66 88E4 ldi r24,lo8(93000)1390 0d68 9BE6 ldi r25,hi8(93000)1391 0d6a A1E0 ldi r26,hlo8(93000)1392 0d6c B0E0 ldi r27,hhi8(93000)1393 0d6e 8E83 std Y+6,r241394 0d70 9F83 std Y+7,r251395 0d72 A887 std Y+8,r261396 0d74 B987 std Y+9,r271397 .L23:1398 0d76 A090 0000 lds r10,Parameter_AchsKopplung21399 0d7a BB24 clr r111400 0d7c CC24 clr r121401 0d7e DD24 clr r131402 0d80 AB89 ldd r26,Y+191403 0d82 BC89 ldd r27,Y+201404 0d84 9D01 movw r18,r261405 0d86 4427 clr r201406 0d88 37FD sbrc r19,71407 0d8a 4095 com r201408 0d8c 542F mov r21,r201409 0d8e 6E81 ldd r22,Y+61410 0d90 7F81 ldd r23,Y+71411 0d92 8885 ldd r24,Y+81412 0d94 9985 ldd r25,Y+91413 0d96 0E94 0000 call __mulsi31414 0d9a 20E0 ldi r18,lo8(2048)1415 0d9c 38E0 ldi r19,hi8(2048)1416 0d9e 40E0 ldi r20,hlo8(2048)1417 0da0 50E0 ldi r21,hhi8(2048)1418 0da2 0E94 0000 call __divmodsi41419 0da6 CA01 movw r24,r201420 0da8 B901 movw r22,r181421 0daa A601 movw r20,r121422 0dac 9501 movw r18,r101423 0dae 0E94 0000 call __mulsi31424 0db2 20E0 ldi r18,lo8(4096)1425 0db4 30E1 ldi r19,hi8(4096)1426 0db6 40E0 ldi r20,hlo8(4096)1427 0db8 50E0 ldi r21,hhi8(4096)1428 0dba 0E94 0000 call __divmodsi41429 0dbe 7901 movw r14,r181430 0dc0 8A01 movw r16,r201431 0dc2 2093 0000 sts tmpl3.2654,r181432 0dc6 3093 0000 sts (tmpl3.2654)+1,r191433 0dca 4093 0000 sts (tmpl3.2654)+2,r201434 0dce 5093 0000 sts (tmpl3.2654)+3,r211435 0dd2 EA8D ldd r30,Y+261436 0dd4 FB8D ldd r31,Y+271437 0dd6 9F01 movw r18,r301438 0dd8 4427 clr r201439 0dda 37FD sbrc r19,71440 0ddc 4095 com r201441 0dde 542F mov r21,r201442 0de0 6A81 ldd r22,Y+21443 0de2 7B81 ldd r23,Y+31444 0de4 8C81 ldd r24,Y+41445 0de6 9D81 ldd r25,Y+51446 0de8 0E94 0000 call __mulsi31447 0dec 20E0 ldi r18,lo8(2048)1448 0dee 38E0 ldi r19,hi8(2048)1449 0df0 40E0 ldi r20,hlo8(2048)1450 0df2 50E0 ldi r21,hhi8(2048)1451 0df4 0E94 0000 call __divmodsi41452 0df8 CA01 movw r24,r201453 0dfa B901 movw r22,r181454 0dfc A601 movw r20,r121455 0dfe 9501 movw r18,r101456 0e00 0E94 0000 call __mulsi31457 0e04 20E0 ldi r18,lo8(4096)1458 0e06 30E1 ldi r19,hi8(4096)1459 0e08 40E0 ldi r20,hlo8(4096)1460 0e0a 50E0 ldi r21,hhi8(4096)1461 0e0c 0E94 0000 call __divmodsi41462 0e10 F092 0000 sts (KopplungsteilNickRoll)+1,r151463 0e14 E092 0000 sts KopplungsteilNickRoll,r141464 0e18 3093 0000 sts (KopplungsteilRollNick)+1,r191465 0e1c 2093 0000 sts KopplungsteilRollNick,r181466 0e20 2E19 sub r18,r141467 0e22 3F09 sbc r19,r151468 0e24 400B sbc r20,r161469 0e26 510B sbc r21,r171470 0e28 7901 movw r14,r181471 0e2a 8A01 movw r16,r201472 0e2c 2093 0000 sts tmpl4.2655,r181473 0e30 3093 0000 sts (tmpl4.2655)+1,r191474 0e34 4093 0000 sts (tmpl4.2655)+2,r201475 0e38 5093 0000 sts (tmpl4.2655)+3,r211476 0e3c 220E add r2,r181477 0e3e 331E adc r3,r191478 0e40 441E adc r4,r201479 0e42 551E adc r5,r211480 0e44 2092 0000 sts ErsatzKompass,r21481 0e48 3092 0000 sts (ErsatzKompass)+1,r31482 0e4c 4092 0000 sts (ErsatzKompass)+2,r41483 0e50 5092 0000 sts (ErsatzKompass)+3,r51484 0e54 F091 0000 lds r31,Parameter_CouplingYawCorrection1485 0e58 FD8B std Y+21,r311486 0e5a FF23 tst r311487 0e5c 01F4 brne .L241488 0e5e CA01 movw r24,r201489 0e60 B901 movw r22,r181490 0e62 22E0 ldi r18,lo8(2)1491 0e64 30E0 ldi r19,hi8(2)1492 0e66 40E0 ldi r20,hlo8(2)1493 0e68 50E0 ldi r21,hhi8(2)1494 0e6a 0E94 0000 call __divmodsi41495 0e6e 8E89 ldd r24,Y+221496 0e70 9F89 ldd r25,Y+231497 0e72 A88D ldd r26,Y+241498 0e74 B98D ldd r27,Y+251499 0e76 821B sub r24,r181500 0e78 930B sbc r25,r191501 0e7a A40B sbc r26,r201502 0e7c B50B sbc r27,r211503 0e7e 8E8B std Y+22,r241504 0e80 9F8B std Y+23,r251505 0e82 A88F std Y+24,r261506 0e84 B98F std Y+25,r271507 0e86 8093 0000 sts Mess_Integral_Gier,r241508 0e8a 9093 0000 sts (Mess_Integral_Gier)+1,r251509 0e8e A093 0000 sts (Mess_Integral_Gier)+2,r261510 0e92 B093 0000 sts (Mess_Integral_Gier)+3,r271511 .L24:1512 0e96 6E0C add r6,r141513 0e98 7F1C adc r7,r151514 0e9a 801E adc r8,r161515 0e9c 911E adc r9,r171516 0e9e E090 0000 lds r14,Parameter_AchsKopplung11517 0ea2 FF24 clr r151518 0ea4 00E0 ldi r16,lo8(0)1519 0ea6 10E0 ldi r17,hi8(0)1520 0ea8 C401 movw r24,r81521 0eaa B301 movw r22,r61522 0eac 2E81 ldd r18,Y+61523 0eae 3F81 ldd r19,Y+71524 0eb0 4885 ldd r20,Y+81525 0eb2 5985 ldd r21,Y+91526 0eb4 0E94 0000 call __mulsi31527 0eb8 20E0 ldi r18,lo8(2048)1528 0eba 38E0 ldi r19,hi8(2048)1529 0ebc 40E0 ldi r20,hlo8(2048)1530 0ebe 50E0 ldi r21,hhi8(2048)1531 0ec0 0E94 0000 call __divmodsi41532 0ec4 CA01 movw r24,r201533 0ec6 B901 movw r22,r181534 0ec8 A801 movw r20,r161535 0eca 9701 movw r18,r141536 0ecc 0E94 0000 call __mulsi31537 0ed0 20E0 ldi r18,lo8(4096)1538 0ed2 30E1 ldi r19,hi8(4096)1539 0ed4 40E0 ldi r20,hlo8(4096)1540 0ed6 50E0 ldi r21,hhi8(4096)1541 0ed8 0E94 0000 call __divmodsi41542 0edc 5901 movw r10,r181543 0ede 6A01 movw r12,r201544 0ee0 2093 0000 sts tmpl.2652,r181545 0ee4 3093 0000 sts (tmpl.2652)+1,r191546 0ee8 4093 0000 sts (tmpl.2652)+2,r201547 0eec 5093 0000 sts (tmpl.2652)+3,r211548 0ef0 C401 movw r24,r81549 0ef2 B301 movw r22,r61550 0ef4 2A81 ldd r18,Y+21551 0ef6 3B81 ldd r19,Y+31552 0ef8 4C81 ldd r20,Y+41553 0efa 5D81 ldd r21,Y+51554 0efc 0E94 0000 call __mulsi31555 0f00 20E0 ldi r18,lo8(2048)1556 0f02 38E0 ldi r19,hi8(2048)1557 0f04 40E0 ldi r20,hlo8(2048)1558 0f06 50E0 ldi r21,hhi8(2048)1559 0f08 0E94 0000 call __divmodsi41560 0f0c CA01 movw r24,r201561 0f0e B901 movw r22,r181562 0f10 A801 movw r20,r161563 0f12 9701 movw r18,r141564 0f14 0E94 0000 call __mulsi31565 0f18 20E0 ldi r18,lo8(4096)1566 0f1a 30E1 ldi r19,hi8(4096)1567 0f1c 40E0 ldi r20,hlo8(4096)1568 0f1e 50E0 ldi r21,hhi8(4096)1569 0f20 0E94 0000 call __divmodsi41570 0f24 2093 0000 sts tmpl2.2653,r181571 0f28 3093 0000 sts (tmpl2.2653)+1,r191572 0f2c 4093 0000 sts (tmpl2.2653)+2,r201573 0f30 5093 0000 sts (tmpl2.2653)+3,r211574 0f34 D7FC sbrc r13,71575 0f36 00C0 rjmp .L1681576 .L27:1577 0f38 91E8 ldi r25,lo8(129)1578 0f3a A916 cp r10,r251579 0f3c B104 cpc r11,__zero_reg__1580 0f3e C104 cpc r12,__zero_reg__1581 0f40 D104 cpc r13,__zero_reg__1582 0f42 04F4 brge .L261583 0f44 57FD sbrc r21,71584 0f46 00C0 rjmp .L1691585 .L30:1586 0f48 2138 cpi r18,lo8(129)1587 0f4a 3105 cpc r19,__zero_reg__1588 0f4c 4105 cpc r20,__zero_reg__1589 0f4e 5105 cpc r21,__zero_reg__1590 0f50 04F4 brge .+21591 0f52 00C0 rjmp .L291592 .L26:1593 0f54 81E0 ldi r24,lo8(1)1594 0f56 8093 0000 sts TrichterFlug,r241595 0f5a 2090 0000 lds r2,ErsatzKompass1596 0f5e 3090 0000 lds r3,(ErsatzKompass)+11597 0f62 4090 0000 lds r4,(ErsatzKompass)+21598 0f66 5090 0000 lds r5,(ErsatzKompass)+31599 0f6a 00C0 rjmp .L291600 .L80:1601 0f6c 4058 subi r20,lo8(-128)1602 0f6e 5F4F sbci r21,hi8(-128)1603 0f70 04F0 brlt .+21604 0f72 00C0 rjmp .L821605 0f74 80E8 ldi r24,lo8(-128)1606 0f76 9FEF ldi r25,hi8(-128)1607 0f78 9093 0000 sts (d2Roll.2658)+1,r251608 0f7c 8093 0000 sts d2Roll.2658,r241609 0f80 00C0 rjmp .L821610 .L150:1611 0f82 0796 adiw r24,71612 0f84 00C0 rjmp .L431613 .L149:1614 0f86 260E add r2,r221615 0f88 371E adc r3,r231616 0f8a 481E adc r4,r241617 0f8c 591E adc r5,r251618 0f8e 2092 0000 sts ErsatzKompass,r21619 0f92 3092 0000 sts (ErsatzKompass)+1,r31620 0f96 4092 0000 sts (ErsatzKompass)+2,r41621 0f9a 5092 0000 sts (ErsatzKompass)+3,r51622 0f9e 00C0 rjmp .L331623 .L85:1624 0fa0 AD89 ldd r26,Y+211625 0fa2 EA2E mov r14,r261626 0fa4 FF24 clr r151627 0fa6 00E0 ldi r16,lo8(0)1628 0fa8 10E0 ldi r17,hi8(0)1629 0faa 6091 0000 lds r22,KopplungsteilNickRoll1630 0fae 7091 0000 lds r23,(KopplungsteilNickRoll)+11631 0fb2 77FD sbrc r23,71632 0fb4 00C0 rjmp .L1701633 .L89:1634 0fb6 8827 clr r241635 0fb8 77FD sbrc r23,71636 0fba 8095 com r241637 0fbc 982F mov r25,r241638 0fbe A801 movw r20,r161639 0fc0 9701 movw r18,r141640 0fc2 0E94 0000 call __mulsi31641 0fc6 20E4 ldi r18,lo8(64)1642 0fc8 30E0 ldi r19,hi8(64)1643 0fca 40E0 ldi r20,hlo8(64)1644 0fcc 50E0 ldi r21,hhi8(64)1645 0fce 0E94 0000 call __divmodsi41646 0fd2 821A sub r8,r181647 0fd4 930A sbc r9,r191648 0fd6 9092 0000 sts (TrimRoll)+1,r91649 0fda 8092 0000 sts TrimRoll,r81650 0fde EA8D ldd r30,Y+261651 0fe0 FB8D ldd r31,Y+271652 0fe2 1E16 cp __zero_reg__,r301653 0fe4 1F06 cpc __zero_reg__,r311654 0fe6 04F4 brge .+21655 0fe8 00C0 rjmp .L1711656 .L90:1657 0fea 2091 0000 lds r18,KopplungsteilRollNick1658 0fee 3091 0000 lds r19,(KopplungsteilRollNick)+11659 0ff2 37FD sbrc r19,71660 0ff4 00C0 rjmp .L1721661 .L94:1662 0ff6 4427 clr r201663 0ff8 37FD sbrc r19,71664 0ffa 4095 com r201665 0ffc 542F mov r21,r201666 0ffe C801 movw r24,r161667 1000 B701 movw r22,r141668 1002 0E94 0000 call __mulsi31669 1006 20E4 ldi r18,lo8(64)1670 1008 30E0 ldi r19,hi8(64)1671 100a 40E0 ldi r20,hlo8(64)1672 100c 50E0 ldi r21,hhi8(64)1673 100e 0E94 0000 call __divmodsi41674 1012 621A sub r6,r181675 1014 730A sbc r7,r191676 1016 7092 0000 sts (TrimNick)+1,r71677 101a 6092 0000 sts TrimNick,r61678 101e F981 ldd r31,Y+11679 1020 F7FF sbrs r31,71680 1022 00C0 rjmp .L951681 .L160:1682 1024 2A85 ldd r18,Y+101683 1026 2223 tst r181684 1028 01F0 breq .+21685 102a 00C0 rjmp .L951686 102c 8091 0000 lds r24,Looping_Roll1687 1030 8823 tst r241688 1032 01F0 breq .+21689 1034 00C0 rjmp .L951690 1036 8A8D ldd r24,Y+261691 1038 9B8D ldd r25,Y+271692 103a 8150 subi r24,lo8(257)1693 103c 9140 sbci r25,hi8(257)1694 103e 04F0 brlt .+21695 1040 00C0 rjmp .L1731696 1042 2A8D ldd r18,Y+261697 1044 3B8D ldd r19,Y+271698 1046 6FEF ldi r22,hi8(-256)1699 1048 2030 cpi r18,lo8(-256)1700 104a 3607 cpc r19,r221701 104c 04F4 brge .L1011702 104e 8091 0000 lds r24,MesswertNick1703 1052 9091 0000 lds r25,(MesswertNick)+11704 1056 8050 subi r24,lo8(-(256))1705 1058 9F4F sbci r25,hi8(-(256))1706 105a 820F add r24,r181707 105c 931F adc r25,r191708 105e 9093 0000 sts (MesswertNick)+1,r251709 1062 8093 0000 sts MesswertNick,r241710 .L101:1711 1066 8B89 ldd r24,Y+191712 1068 9C89 ldd r25,Y+201713 106a 8150 subi r24,lo8(257)1714 106c 9140 sbci r25,hi8(257)1715 106e 04F4 brge .+21716 1070 00C0 rjmp .L1031717 1072 8091 0000 lds r24,MesswertRoll1718 1076 9091 0000 lds r25,(MesswertRoll)+11719 107a 8050 subi r24,lo8(-(-256))1720 107c 9140 sbci r25,hi8(-(-256))1721 107e EB89 ldd r30,Y+191722 1080 FC89 ldd r31,Y+201723 1082 8E0F add r24,r301724 1084 9F1F adc r25,r311725 1086 9093 0000 sts (MesswertRoll)+1,r251726 108a 8093 0000 sts MesswertRoll,r241727 108e 00C0 rjmp .L951728 .L151:1729 1090 0796 adiw r24,71730 1092 00C0 rjmp .L441731 .L147:1732 1094 295F subi r18,lo8(-(7))1733 1096 3F4F sbci r19,hi8(-(7))1734 1098 00C0 rjmp .L131735 .L146:1736 109a 295F subi r18,lo8(-(7))1737 109c 3F4F sbci r19,hi8(-(7))1738 109e 0C94 0000 jmp .L121739 .L154:1740 10a2 2F5F subi r18,lo8(-(1))1741 10a4 3F4F sbci r19,hi8(-(1))1742 10a6 00C0 rjmp .L731743 .L159:1744 10a8 3095 com r191745 10aa 2195 neg r181746 10ac 3F4F sbci r19,lo8(-1)1747 10ae 00C0 rjmp .L921748 .L158:1749 10b0 7095 com r231750 10b2 6195 neg r221751 10b4 7F4F sbci r23,lo8(-1)1752 10b6 00C0 rjmp .L871753 .L155:1754 10b8 215F subi r18,lo8(-(15))1755 10ba 3F4F sbci r19,hi8(-(15))1756 10bc 00C0 rjmp .L781757 .L157:1758 10be 215F subi r18,lo8(-(15))1759 10c0 3F4F sbci r19,hi8(-(15))1760 10c2 00C0 rjmp .L841761 .L156:1762 10c4 2F5F subi r18,lo8(-(1))1763 10c6 3F4F sbci r19,hi8(-(1))1764 10c8 00C0 rjmp .L791765 .L170:1766 10ca 7095 com r231767 10cc 6195 neg r221768 10ce 7F4F sbci r23,lo8(-1)1769 10d0 00C0 rjmp .L891770 .L172:1771 10d2 3095 com r191772 10d4 2195 neg r181773 10d6 3F4F sbci r19,lo8(-1)1774 10d8 00C0 rjmp .L941775 .L173:1776 10da 8091 0000 lds r24,MesswertNick1777 10de 9091 0000 lds r25,(MesswertNick)+11778 10e2 8050 subi r24,lo8(-(-256))1779 10e4 9140 sbci r25,hi8(-(-256))1780 10e6 EA8D ldd r30,Y+261781 10e8 FB8D ldd r31,Y+271782 10ea 8E0F add r24,r301783 10ec 9F1F adc r25,r311784 10ee 9093 0000 sts (MesswertNick)+1,r251785 10f2 8093 0000 sts MesswertNick,r241786 10f6 00C0 rjmp .L1011787 .L169:1788 10f8 5095 com r211789 10fa 4095 com r201790 10fc 3095 com r191791 10fe 2195 neg r181792 1100 3F4F sbci r19,lo8(-1)1793 1102 4F4F sbci r20,lo8(-1)1794 1104 5F4F sbci r21,lo8(-1)1795 1106 00C0 rjmp .L301796 .L168:1797 1108 D094 com r131798 110a C094 com r121799 110c B094 com r111800 110e A094 com r101801 1110 A11C adc r10,__zero_reg__1802 1112 B11C adc r11,__zero_reg__1803 1114 C11C adc r12,__zero_reg__1804 1116 D11C adc r13,__zero_reg__1805 1118 00C0 rjmp .L271806 .L103:1807 111a 2B89 ldd r18,Y+191808 111c 3C89 ldd r19,Y+201809 111e 6FEF ldi r22,hi8(-256)1810 1120 2030 cpi r18,lo8(-256)1811 1122 3607 cpc r19,r221812 1124 04F0 brlt .+21813 1126 00C0 rjmp .L951814 1128 8091 0000 lds r24,MesswertRoll1815 112c 9091 0000 lds r25,(MesswertRoll)+11816 1130 8050 subi r24,lo8(-(256))1817 1132 9F4F sbci r25,hi8(-(256))1818 1134 820F add r24,r181819 1136 931F adc r25,r191820 1138 9093 0000 sts (MesswertRoll)+1,r251821 113c 8093 0000 sts MesswertRoll,r241822 1140 00C0 rjmp .L951823 .L142:1824 /* epilogue: frame size=27 */1825 1142 6B96 adiw r28,271826 1144 0FB6 in __tmp_reg__,__SREG__1827 1146 F894 cli1828 1148 DEBF out __SP_H__,r291829 114a 0FBE out __SREG__,__tmp_reg__1830 114c CDBF out __SP_L__,r281831 114e DF91 pop r291832 1150 CF91 pop r281833 1152 1F91 pop r171834 1154 0F91 pop r161835 1156 FF90 pop r151836 1158 EF90 pop r141837 115a DF90 pop r131838 115c CF90 pop r121839 115e BF90 pop r111840 1160 AF90 pop r101841 1162 9F90 pop r91842 1164 8F90 pop r81843 1166 7F90 pop r71844 1168 6F90 pop r61845 116a 5F90 pop r51846 116c 4F90 pop r41847 116e 3F90 pop r31848 1170 2F90 pop r21849 1172 0895 ret1850 /* epilogue end (size=25) */1851 /* function Mittelwert size 2210 (2159) */1853 .global ParameterZuordnung1855 ParameterZuordnung:1856 /* prologue: frame size=0 */1857 /* prologue end (size=0) */1858 1174 8091 0000 lds r24,EE_Parameter+111859 1178 8B3F cpi r24,lo8(-5)1860 117a 00F0 brlo .L1751861 117c 8B3F cpi r24,lo8(-5)1862 117e 01F4 brne .+21863 1180 00C0 rjmp .L4661864 1182 8C3F cpi r24,lo8(-4)1865 1184 01F4 brne .+21866 1186 00C0 rjmp .L4671867 1188 8D3F cpi r24,lo8(-3)1868 118a 01F4 brne .+21869 118c 00C0 rjmp .L4681870 118e 8E3F cpi r24,lo8(-2)1871 1190 01F4 brne .L1791872 1192 8091 0000 lds r24,Poti41873 1196 8093 0000 sts Parameter_MaxHoehe,r241874 119a 00C0 rjmp .L1791875 .L175:1876 119c 8093 0000 sts Parameter_MaxHoehe,r241877 .L179:1878 11a0 8091 0000 lds r24,EE_Parameter+101879 11a4 8B3F cpi r24,lo8(-5)1880 11a6 00F0 brlo .L1851881 11a8 8B3F cpi r24,lo8(-5)1882 11aa 01F4 brne .+21883 11ac 00C0 rjmp .L4691884 11ae 8C3F cpi r24,lo8(-4)1885 11b0 01F4 brne .+21886 11b2 00C0 rjmp .L4701887 11b4 8D3F cpi r24,lo8(-3)1888 11b6 01F4 brne .+21889 11b8 00C0 rjmp .L4711890 11ba 8E3F cpi r24,lo8(-2)1891 11bc 01F4 brne .L1891892 11be 8091 0000 lds r24,Poti41893 11c2 8093 0000 sts Parameter_Luftdruck_D,r241894 11c6 00C0 rjmp .L1891895 .L185:1896 11c8 8093 0000 sts Parameter_Luftdruck_D,r241897 .L189:1898 11cc 8091 0000 lds r24,Parameter_Luftdruck_D1899 11d0 8823 tst r241900 11d2 01F4 brne .L1951901 11d4 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__1902 .L197:1903 11d8 8091 0000 lds r24,EE_Parameter+121904 11dc 8B3F cpi r24,lo8(-5)1905 11de 00F0 brlo .L1991906 .L475:1907 11e0 8B3F cpi r24,lo8(-5)1908 11e2 01F4 brne .+21909 11e4 00C0 rjmp .L4721910 11e6 8C3F cpi r24,lo8(-4)1911 11e8 01F4 brne .+21912 11ea 00C0 rjmp .L4731913 11ec 8D3F cpi r24,lo8(-3)1914 11ee 01F4 brne .+21915 11f0 00C0 rjmp .L4741916 11f2 8E3F cpi r24,lo8(-2)1917 11f4 01F4 brne .L2031918 11f6 8091 0000 lds r24,Poti41919 11fa 8093 0000 sts Parameter_Hoehe_P,r241920 11fe 00C0 rjmp .L2031921 .L195:1922 1200 8436 cpi r24,lo8(100)1923 1202 00F0 brlo .L1971924 1204 84E6 ldi r24,lo8(100)1925 1206 8093 0000 sts Parameter_Luftdruck_D,r241926 120a 8091 0000 lds r24,EE_Parameter+121927 120e 8B3F cpi r24,lo8(-5)1928 1210 00F4 brsh .L4751929 .L199:1930 1212 8093 0000 sts Parameter_Hoehe_P,r241931 .L203:1932 1216 8091 0000 lds r24,Parameter_Hoehe_P1933 121a 8823 tst r241934 121c 01F4 brne .L2091935 121e 1092 0000 sts Parameter_Hoehe_P,__zero_reg__1936 .L211:1937 1222 8091 0000 lds r24,EE_Parameter+141938 1226 8B3F cpi r24,lo8(-5)1939 1228 00F0 brlo .L2131940 .L479:1941 122a 8B3F cpi r24,lo8(-5)1942 122c 01F4 brne .+21943 122e 00C0 rjmp .L4761944 1230 8C3F cpi r24,lo8(-4)1945 1232 01F4 brne .+21946 1234 00C0 rjmp .L4771947 1236 8D3F cpi r24,lo8(-3)1948 1238 01F4 brne .+21949 123a 00C0 rjmp .L4781950 123c 8E3F cpi r24,lo8(-2)1951 123e 01F4 brne .L2171952 1240 8091 0000 lds r24,Poti41953 1244 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241954 1248 00C0 rjmp .L2171955 .L209:1956 124a 8436 cpi r24,lo8(100)1957 124c 00F0 brlo .L2111958 124e 84E6 ldi r24,lo8(100)1959 1250 8093 0000 sts Parameter_Hoehe_P,r241960 1254 8091 0000 lds r24,EE_Parameter+141961 1258 8B3F cpi r24,lo8(-5)1962 125a 00F4 brsh .L4791963 .L213:1964 125c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241965 .L217:1966 1260 8091 0000 lds r24,EE_Parameter+211967 1264 8B3F cpi r24,lo8(-5)1968 1266 00F0 brlo .L2231969 1268 8B3F cpi r24,lo8(-5)1970 126a 01F4 brne .+21971 126c 00C0 rjmp .L4801972 126e 8C3F cpi r24,lo8(-4)1973 1270 01F4 brne .+21974 1272 00C0 rjmp .L4811975 1274 8D3F cpi r24,lo8(-3)1976 1276 01F4 brne .+21977 1278 00C0 rjmp .L4821978 127a 8E3F cpi r24,lo8(-2)1979 127c 01F4 brne .L2271980 127e 8091 0000 lds r24,Poti41981 1282 8093 0000 sts Parameter_KompassWirkung,r241982 1286 00C0 rjmp .L2271983 .L223:1984 1288 8093 0000 sts Parameter_KompassWirkung,r241985 .L227:1986 128c 8091 0000 lds r24,EE_Parameter+221987 1290 8B3F cpi r24,lo8(-5)1988 1292 00F0 brlo .L2331989 1294 8B3F cpi r24,lo8(-5)1990 1296 01F4 brne .+21991 1298 00C0 rjmp .L4831992 129a 8C3F cpi r24,lo8(-4)1993 129c 01F4 brne .+21994 129e 00C0 rjmp .L4841995 12a0 8D3F cpi r24,lo8(-3)1996 12a2 01F4 brne .+21997 12a4 00C0 rjmp .L4851998 12a6 8E3F cpi r24,lo8(-2)1999 12a8 01F4 brne .L2372000 12aa 8091 0000 lds r24,Poti42001 12ae 8093 0000 sts Parameter_Gyro_P,r242002 12b2 00C0 rjmp .L2372003 .L233:2004 12b4 8093 0000 sts Parameter_Gyro_P,r242005 .L237:2006 12b8 8091 0000 lds r24,Parameter_Gyro_P2007 12bc 8B30 cpi r24,lo8(11)2008 12be 00F4 brsh .L2432009 12c0 8AE0 ldi r24,lo8(10)2010 12c2 8093 0000 sts Parameter_Gyro_P,r242011 .L245:2012 12c6 8091 0000 lds r24,EE_Parameter+232013 12ca 8B3F cpi r24,lo8(-5)2014 12cc 00F0 brlo .L2472015 .L489:2016 12ce 8B3F cpi r24,lo8(-5)2017 12d0 01F4 brne .+22018 12d2 00C0 rjmp .L4862019 12d4 8C3F cpi r24,lo8(-4)2020 12d6 01F4 brne .+22021 12d8 00C0 rjmp .L4872022 12da 8D3F cpi r24,lo8(-3)2023 12dc 01F4 brne .+22024 12de 00C0 rjmp .L4882025 12e0 8E3F cpi r24,lo8(-2)2026 12e2 01F4 brne .L2512027 12e4 8091 0000 lds r24,Poti42028 12e8 8093 0000 sts Parameter_Gyro_I,r242029 12ec 00C0 rjmp .L2512030 .L243:2031 12ee 8F3F cpi r24,lo8(-1)2032 12f0 01F4 brne .L2452033 12f2 8093 0000 sts Parameter_Gyro_P,r242034 12f6 8091 0000 lds r24,EE_Parameter+232035 12fa 8B3F cpi r24,lo8(-5)2036 12fc 00F4 brsh .L4892037 .L247:2038 12fe 8093 0000 sts Parameter_Gyro_I,r242039 .L251:2040 1302 8091 0000 lds r24,EE_Parameter+242041 1306 8B3F cpi r24,lo8(-5)2042 1308 00F0 brlo .L2572043 130a 8B3F cpi r24,lo8(-5)2044 130c 01F4 brne .+22045 130e 00C0 rjmp .L4902046 1310 8C3F cpi r24,lo8(-4)2047 1312 01F4 brne .+22048 1314 00C0 rjmp .L4912049 1316 8D3F cpi r24,lo8(-3)2050 1318 01F4 brne .+22051 131a 00C0 rjmp .L4922052 131c 8E3F cpi r24,lo8(-2)2053 131e 01F4 brne .L2612054 1320 8091 0000 lds r24,Poti42055 1324 8093 0000 sts Parameter_Gyro_D,r242056 1328 00C0 rjmp .L2612057 .L257:2058 132a 8093 0000 sts Parameter_Gyro_D,r242059 .L261:2060 132e 8091 0000 lds r24,EE_Parameter+292061 1332 8B3F cpi r24,lo8(-5)2062 1334 00F0 brlo .L2672063 1336 8B3F cpi r24,lo8(-5)2064 1338 01F4 brne .+22065 133a 00C0 rjmp .L4932066 133c 8C3F cpi r24,lo8(-4)2067 133e 01F4 brne .+22068 1340 00C0 rjmp .L4942069 1342 8D3F cpi r24,lo8(-3)2070 1344 01F4 brne .+22071 1346 00C0 rjmp .L4952072 1348 8E3F cpi r24,lo8(-2)2073 134a 01F4 brne .L2712074 134c 8091 0000 lds r24,Poti42075 1350 8093 0000 sts Parameter_I_Faktor,r242076 1354 00C0 rjmp .L2712077 .L267:2078 1356 8093 0000 sts Parameter_I_Faktor,r242079 .L271:2080 135a 8091 0000 lds r24,EE_Parameter+302081 135e 8B3F cpi r24,lo8(-5)2082 1360 00F0 brlo .L2772083 1362 8B3F cpi r24,lo8(-5)2084 1364 01F4 brne .+22085 1366 00C0 rjmp .L4962086 1368 8C3F cpi r24,lo8(-4)2087 136a 01F4 brne .+22088 136c 00C0 rjmp .L4972089 136e 8D3F cpi r24,lo8(-3)2090 1370 01F4 brne .+22091 1372 00C0 rjmp .L4982092 1374 8E3F cpi r24,lo8(-2)2093 1376 01F4 brne .L2812094 1378 8091 0000 lds r24,Poti42095 137c 8093 0000 sts Parameter_UserParam1,r242096 1380 00C0 rjmp .L2812097 .L277:2098 1382 8093 0000 sts Parameter_UserParam1,r242099 .L281:2100 1386 8091 0000 lds r24,EE_Parameter+312101 138a 8B3F cpi r24,lo8(-5)2102 138c 00F0 brlo .L2872103 138e 8B3F cpi r24,lo8(-5)2104 1390 01F4 brne .+22105 1392 00C0 rjmp .L4992106 1394 8C3F cpi r24,lo8(-4)2107 1396 01F4 brne .+22108 1398 00C0 rjmp .L5002109 139a 8D3F cpi r24,lo8(-3)2110 139c 01F4 brne .+22111 139e 00C0 rjmp .L5012112 13a0 8E3F cpi r24,lo8(-2)2113 13a2 01F4 brne .L2912114 13a4 8091 0000 lds r24,Poti42115 13a8 8093 0000 sts Parameter_UserParam2,r242116 13ac 00C0 rjmp .L2912117 .L287:2118 13ae 8093 0000 sts Parameter_UserParam2,r242119 .L291:2120 13b2 8091 0000 lds r24,EE_Parameter+322121 13b6 8B3F cpi r24,lo8(-5)2122 13b8 00F0 brlo .L2972123 13ba 8B3F cpi r24,lo8(-5)2124 13bc 01F4 brne .+22125 13be 00C0 rjmp .L5022126 13c0 8C3F cpi r24,lo8(-4)2127 13c2 01F4 brne .+22128 13c4 00C0 rjmp .L5032129 13c6 8D3F cpi r24,lo8(-3)2130 13c8 01F4 brne .+22131 13ca 00C0 rjmp .L5042132 13cc 8E3F cpi r24,lo8(-2)2133 13ce 01F4 brne .L3012134 13d0 8091 0000 lds r24,Poti42135 13d4 8093 0000 sts Parameter_UserParam3,r242136 13d8 00C0 rjmp .L3012137 .L297:2138 13da 8093 0000 sts Parameter_UserParam3,r242139 .L301:2140 13de 8091 0000 lds r24,EE_Parameter+332141 13e2 8B3F cpi r24,lo8(-5)2142 13e4 00F0 brlo .L3072143 13e6 8B3F cpi r24,lo8(-5)2144 13e8 01F4 brne .+22145 13ea 00C0 rjmp .L5052146 13ec 8C3F cpi r24,lo8(-4)2147 13ee 01F4 brne .+22148 13f0 00C0 rjmp .L5062149 13f2 8D3F cpi r24,lo8(-3)2150 13f4 01F4 brne .+22151 13f6 00C0 rjmp .L5072152 13f8 8E3F cpi r24,lo8(-2)2153 13fa 01F4 brne .L3112154 13fc 8091 0000 lds r24,Poti42155 1400 8093 0000 sts Parameter_UserParam4,r242156 1404 00C0 rjmp .L3112157 .L307:2158 1406 8093 0000 sts Parameter_UserParam4,r242159 .L311:2160 140a 8091 0000 lds r24,EE_Parameter+502161 140e 8B3F cpi r24,lo8(-5)2162 1410 00F0 brlo .L3172163 1412 8B3F cpi r24,lo8(-5)2164 1414 01F4 brne .+22165 1416 00C0 rjmp .L5082166 1418 8C3F cpi r24,lo8(-4)2167 141a 01F4 brne .+22168 141c 00C0 rjmp .L5092169 141e 8D3F cpi r24,lo8(-3)2170 1420 01F4 brne .+22171 1422 00C0 rjmp .L5102172 1424 8E3F cpi r24,lo8(-2)2173 1426 01F4 brne .L3212174 1428 8091 0000 lds r24,Poti42175 142c 8093 0000 sts Parameter_UserParam5,r242176 1430 00C0 rjmp .L3212177 .L317:2178 1432 8093 0000 sts Parameter_UserParam5,r242179 .L321:2180 1436 8091 0000 lds r24,EE_Parameter+512181 143a 8B3F cpi r24,lo8(-5)2182 143c 00F0 brlo .L3272183 143e 8B3F cpi r24,lo8(-5)2184 1440 01F4 brne .+22185 1442 00C0 rjmp .L5112186 1444 8C3F cpi r24,lo8(-4)2187 1446 01F4 brne .+22188 1448 00C0 rjmp .L5122189 144a 8D3F cpi r24,lo8(-3)2190 144c 01F4 brne .+22191 144e 00C0 rjmp .L5132192 1450 8E3F cpi r24,lo8(-2)2193 1452 01F4 brne .L3312194 1454 8091 0000 lds r24,Poti42195 1458 8093 0000 sts Parameter_UserParam6,r242196 145c 00C0 rjmp .L3312197 .L327:2198 145e 8093 0000 sts Parameter_UserParam6,r242199 .L331:2200 1462 8091 0000 lds r24,EE_Parameter+522201 1466 8B3F cpi r24,lo8(-5)2202 1468 00F0 brlo .L3372203 146a 8B3F cpi r24,lo8(-5)2204 146c 01F4 brne .+22205 146e 00C0 rjmp .L5142206 1470 8C3F cpi r24,lo8(-4)2207 1472 01F4 brne .+22208 1474 00C0 rjmp .L5152209 1476 8D3F cpi r24,lo8(-3)2210 1478 01F4 brne .+22211 147a 00C0 rjmp .L5162212 147c 8E3F cpi r24,lo8(-2)2213 147e 01F4 brne .L3412214 1480 8091 0000 lds r24,Poti42215 1484 8093 0000 sts Parameter_UserParam7,r242216 1488 00C0 rjmp .L3412217 .L337:2218 148a 8093 0000 sts Parameter_UserParam7,r242219 .L341:2220 148e 8091 0000 lds r24,EE_Parameter+532221 1492 8B3F cpi r24,lo8(-5)2222 1494 00F0 brlo .L3472223 1496 8B3F cpi r24,lo8(-5)2224 1498 01F4 brne .+22225 149a 00C0 rjmp .L5172226 149c 8C3F cpi r24,lo8(-4)2227 149e 01F4 brne .+22228 14a0 00C0 rjmp .L5182229 14a2 8D3F cpi r24,lo8(-3)2230 14a4 01F4 brne .+22231 14a6 00C0 rjmp .L5192232 14a8 8E3F cpi r24,lo8(-2)2233 14aa 01F4 brne .L3512234 14ac 8091 0000 lds r24,Poti42235 14b0 8093 0000 sts Parameter_UserParam8,r242236 14b4 00C0 rjmp .L3512237 .L347:2238 14b6 8093 0000 sts Parameter_UserParam8,r242239 .L351:2240 14ba 8091 0000 lds r24,EE_Parameter+342241 14be 8B3F cpi r24,lo8(-5)2242 14c0 00F0 brlo .L3572243 14c2 8B3F cpi r24,lo8(-5)2244 14c4 01F4 brne .+22245 14c6 00C0 rjmp .L5202246 14c8 8C3F cpi r24,lo8(-4)2247 14ca 01F4 brne .+22248 14cc 00C0 rjmp .L5212249 14ce 8D3F cpi r24,lo8(-3)2250 14d0 01F4 brne .+22251 14d2 00C0 rjmp .L5222252 14d4 8E3F cpi r24,lo8(-2)2253 14d6 01F4 brne .L3612254 14d8 8091 0000 lds r24,Poti42255 14dc 8093 0000 sts Parameter_ServoNickControl,r242256 14e0 00C0 rjmp .L3612257 .L357:2258 14e2 8093 0000 sts Parameter_ServoNickControl,r242259 .L361:2260 14e6 8091 0000 lds r24,EE_Parameter+392261 14ea 8B3F cpi r24,lo8(-5)2262 14ec 00F0 brlo .L3672263 14ee 8B3F cpi r24,lo8(-5)2264 14f0 01F4 brne .+22265 14f2 00C0 rjmp .L5232266 14f4 8C3F cpi r24,lo8(-4)2267 14f6 01F4 brne .+22268 14f8 00C0 rjmp .L5242269 14fa 8D3F cpi r24,lo8(-3)2270 14fc 01F4 brne .+22271 14fe 00C0 rjmp .L5252272 1500 8E3F cpi r24,lo8(-2)2273 1502 01F4 brne .L3712274 1504 8091 0000 lds r24,Poti42275 1508 8093 0000 sts Parameter_LoopGasLimit,r242276 150c 00C0 rjmp .L3712277 .L367:2278 150e 8093 0000 sts Parameter_LoopGasLimit,r242279 .L371:2280 1512 8091 0000 lds r24,EE_Parameter+422281 1516 8B3F cpi r24,lo8(-5)2282 1518 00F0 brlo .L3772283 151a 8B3F cpi r24,lo8(-5)2284 151c 01F4 brne .+22285 151e 00C0 rjmp .L5262286 1520 8C3F cpi r24,lo8(-4)2287 1522 01F4 brne .+22288 1524 00C0 rjmp .L5272289 1526 8D3F cpi r24,lo8(-3)2290 1528 01F4 brne .+22291 152a 00C0 rjmp .L5282292 152c 8E3F cpi r24,lo8(-2)2293 152e 01F4 brne .L3812294 1530 8091 0000 lds r24,Poti42295 1534 8093 0000 sts Parameter_AchsKopplung1,r242296 1538 00C0 rjmp .L3812297 .L377:2298 153a 8093 0000 sts Parameter_AchsKopplung1,r242299 .L381:2300 153e 8091 0000 lds r24,EE_Parameter+432301 1542 8B3F cpi r24,lo8(-5)2302 1544 00F0 brlo .L3872303 1546 8B3F cpi r24,lo8(-5)2304 1548 01F4 brne .+22305 154a 00C0 rjmp .L5292306 154c 8C3F cpi r24,lo8(-4)2307 154e 01F4 brne .+22308 1550 00C0 rjmp .L5302309 1552 8D3F cpi r24,lo8(-3)2310 1554 01F4 brne .+22311 1556 00C0 rjmp .L5312312 1558 8E3F cpi r24,lo8(-2)2313 155a 01F4 brne .L3912314 155c 8091 0000 lds r24,Poti42315 1560 8093 0000 sts Parameter_AchsKopplung2,r242316 1564 00C0 rjmp .L3912317 .L387:2318 1566 8093 0000 sts Parameter_AchsKopplung2,r242319 .L391:2320 156a 8091 0000 lds r24,EE_Parameter+442321 156e 8B3F cpi r24,lo8(-5)2322 1570 00F0 brlo .L3972323 1572 8B3F cpi r24,lo8(-5)2324 1574 01F4 brne .+22325 1576 00C0 rjmp .L5322326 1578 8C3F cpi r24,lo8(-4)2327 157a 01F4 brne .+22328 157c 00C0 rjmp .L5332329 157e 8D3F cpi r24,lo8(-3)2330 1580 01F4 brne .+22331 1582 00C0 rjmp .L5342332 1584 8E3F cpi r24,lo8(-2)2333 1586 01F4 brne .L4012334 1588 8091 0000 lds r24,Poti42335 158c 8093 0000 sts Parameter_CouplingYawCorrection,r242336 1590 00C0 rjmp .L4012337 .L397:2338 1592 8093 0000 sts Parameter_CouplingYawCorrection,r242339 .L401:2340 1596 8091 0000 lds r24,EE_Parameter+492341 159a 8B3F cpi r24,lo8(-5)2342 159c 00F0 brlo .L4072343 159e 8B3F cpi r24,lo8(-5)2344 15a0 01F4 brne .+22345 15a2 00C0 rjmp .L5352346 15a4 8C3F cpi r24,lo8(-4)2347 15a6 01F4 brne .+22348 15a8 00C0 rjmp .L5362349 15aa 8D3F cpi r24,lo8(-3)2350 15ac 01F4 brne .+22351 15ae 00C0 rjmp .L5372352 15b0 8E3F cpi r24,lo8(-2)2353 15b2 01F4 brne .L4112354 15b4 8091 0000 lds r24,Poti42355 15b8 8093 0000 sts Parameter_DynamicStability,r242356 15bc 00C0 rjmp .L4112357 .L407:2358 15be 8093 0000 sts Parameter_DynamicStability,r242359 .L411:2360 15c2 8091 0000 lds r24,EE_Parameter+552361 15c6 8B3F cpi r24,lo8(-5)2362 15c8 00F0 brlo .L4172363 15ca 8B3F cpi r24,lo8(-5)2364 15cc 01F4 brne .+22365 15ce 00C0 rjmp .L5382366 15d0 8C3F cpi r24,lo8(-4)2367 15d2 01F4 brne .+22368 15d4 00C0 rjmp .L5392369 15d6 8D3F cpi r24,lo8(-3)2370 15d8 01F4 brne .+22371 15da 00C0 rjmp .L5402372 15dc 8E3F cpi r24,lo8(-2)2373 15de 01F4 brne .L4212374 15e0 8091 0000 lds r24,Poti42375 15e4 8093 0000 sts Parameter_J16Timing,r242376 15e8 00C0 rjmp .L4212377 .L417:2378 15ea 8093 0000 sts Parameter_J16Timing,r242379 .L421:2380 15ee 8091 0000 lds r24,Parameter_J16Timing2381 15f2 8230 cpi r24,lo8(2)2382 15f4 00F4 brsh .+22383 15f6 00C0 rjmp .L5412384 15f8 8F3F cpi r24,lo8(-1)2385 15fa 01F4 brne .+22386 15fc 00C0 rjmp .L5422387 .L429:2388 15fe 8091 0000 lds r24,EE_Parameter+572389 1602 8B3F cpi r24,lo8(-5)2390 1604 00F0 brlo .L4312391 1606 8B3F cpi r24,lo8(-5)2392 1608 01F4 brne .+22393 160a 00C0 rjmp .L5432394 160c 8C3F cpi r24,lo8(-4)2395 160e 01F4 brne .+22396 1610 00C0 rjmp .L5442397 1612 8D3F cpi r24,lo8(-3)2398 1614 01F4 brne .+22399 1616 00C0 rjmp .L5452400 1618 8E3F cpi r24,lo8(-2)2401 161a 01F4 brne .L4352402 161c 8091 0000 lds r24,Poti42403 1620 8093 0000 sts Parameter_J17Timing,r242404 1624 00C0 rjmp .L4352405 .L431:2406 1626 8093 0000 sts Parameter_J17Timing,r242407 .L435:2408 162a 8091 0000 lds r24,Parameter_J17Timing2409 162e 8230 cpi r24,lo8(2)2410 1630 00F0 brlo .L5462411 1632 8F3F cpi r24,lo8(-1)2412 1634 01F0 breq .L5472413 .L443:2414 1636 8091 0000 lds r24,EE_Parameter+582415 163a 8B3F cpi r24,lo8(-5)2416 163c 00F0 brlo .L4452417 163e 8B3F cpi r24,lo8(-5)2418 1640 01F0 breq .L5482419 1642 8C3F cpi r24,lo8(-4)2420 1644 01F4 brne .+22421 1646 00C0 rjmp .L5492422 1648 8D3F cpi r24,lo8(-3)2423 164a 01F4 brne .+22424 164c 00C0 rjmp .L5502425 164e 8E3F cpi r24,lo8(-2)2426 1650 01F4 brne .L4492427 1652 8091 0000 lds r24,Poti42428 1656 8093 0000 sts Parameter_NaviGpsModeControl,r242429 165a 00C0 rjmp .L4492430 .L445:2431 165c 8093 0000 sts Parameter_NaviGpsModeControl,r242432 .L449:2433 1660 8091 0000 lds r24,EE_Parameter+742434 1664 8B3F cpi r24,lo8(-5)2435 1666 00F0 brlo .L4552436 1668 8B3F cpi r24,lo8(-5)2437 166a 01F0 breq .L5512438 166c 8C3F cpi r24,lo8(-4)2439 166e 01F4 brne .+22440 1670 00C0 rjmp .L5522441 1672 8D3F cpi r24,lo8(-3)2442 1674 01F4 brne .+22443 1676 00C0 rjmp .L5532444 1678 8E3F cpi r24,lo8(-2)2445 167a 01F0 breq .+22446 167c 00C0 rjmp .L4592447 167e 8091 0000 lds r24,Poti42448 1682 8093 0000 sts Parameter_ExternalControl,r242449 1686 00C0 rjmp .L4592450 .L455:2451 1688 8093 0000 sts Parameter_ExternalControl,r242452 168c 00C0 rjmp .L4592453 .L542:2454 168e 8093 0000 sts Parameter_J16Timing,r242455 1692 00C0 rjmp .L4292456 .L547:2457 1694 8093 0000 sts Parameter_J17Timing,r242458 1698 00C0 rjmp .L4432459 .L546:2460 169a 81E0 ldi r24,lo8(1)2461 169c 8093 0000 sts Parameter_J17Timing,r242462 16a0 00C0 rjmp .L4432463 .L541:2464 16a2 81E0 ldi r24,lo8(1)2465 16a4 8093 0000 sts Parameter_J16Timing,r242466 16a8 00C0 rjmp .L4292467 .L543:2468 16aa 8091 0000 lds r24,Poti12469 16ae 8093 0000 sts Parameter_J17Timing,r242470 16b2 00C0 rjmp .L4352471 .L551:2472 16b4 8091 0000 lds r24,Poti12473 16b8 8093 0000 sts Parameter_ExternalControl,r242474 16bc 00C0 rjmp .L4592475 .L548:2476 16be 8091 0000 lds r24,Poti12477 16c2 8093 0000 sts Parameter_NaviGpsModeControl,r242478 16c6 00C0 rjmp .L4492479 .L538:2480 16c8 8091 0000 lds r24,Poti12481 16cc 8093 0000 sts Parameter_J16Timing,r242482 16d0 00C0 rjmp .L4212483 .L532:2484 16d2 8091 0000 lds r24,Poti12485 16d6 8093 0000 sts Parameter_CouplingYawCorrection,r242486 16da 00C0 rjmp .L4012487 .L535:2488 16dc 8091 0000 lds r24,Poti12489 16e0 8093 0000 sts Parameter_DynamicStability,r242490 16e4 00C0 rjmp .L4112491 .L526:2492 16e6 8091 0000 lds r24,Poti12493 16ea 8093 0000 sts Parameter_AchsKopplung1,r242494 16ee 00C0 rjmp .L3812495 .L529:2496 16f0 8091 0000 lds r24,Poti12497 16f4 8093 0000 sts Parameter_AchsKopplung2,r242498 16f8 00C0 rjmp .L3912499 .L520:2500 16fa 8091 0000 lds r24,Poti12501 16fe 8093 0000 sts Parameter_ServoNickControl,r242502 1702 00C0 rjmp .L3612503 .L523:2504 1704 8091 0000 lds r24,Poti12505 1708 8093 0000 sts Parameter_LoopGasLimit,r242506 170c 00C0 rjmp .L3712507 .L514:2508 170e 8091 0000 lds r24,Poti12509 1712 8093 0000 sts Parameter_UserParam7,r242510 1716 00C0 rjmp .L3412511 .L517:2512 1718 8091 0000 lds r24,Poti12513 171c 8093 0000 sts Parameter_UserParam8,r242514 1720 00C0 rjmp .L3512515 .L508:2516 1722 8091 0000 lds r24,Poti12517 1726 8093 0000 sts Parameter_UserParam5,r242518 172a 00C0 rjmp .L3212519 .L511:2520 172c 8091 0000 lds r24,Poti12521 1730 8093 0000 sts Parameter_UserParam6,r242522 1734 00C0 rjmp .L3312523 .L502:2524 1736 8091 0000 lds r24,Poti12525 173a 8093 0000 sts Parameter_UserParam3,r242526 173e 00C0 rjmp .L3012527 .L505:2528 1740 8091 0000 lds r24,Poti12529 1744 8093 0000 sts Parameter_UserParam4,r242530 1748 00C0 rjmp .L3112531 .L490:2532 174a 8091 0000 lds r24,Poti12533 174e 8093 0000 sts Parameter_Gyro_D,r242534 1752 00C0 rjmp .L2612535 .L496:2536 1754 8091 0000 lds r24,Poti12537 1758 8093 0000 sts Parameter_UserParam1,r242538 175c 00C0 rjmp .L2812539 .L499:2540 175e 8091 0000 lds r24,Poti12541 1762 8093 0000 sts Parameter_UserParam2,r242542 1766 00C0 rjmp .L2912543 .L480:2544 1768 8091 0000 lds r24,Poti12545 176c 8093 0000 sts Parameter_KompassWirkung,r242546 1770 00C0 rjmp .L2272547 .L483:2548 1772 8091 0000 lds r24,Poti12549 1776 8093 0000 sts Parameter_Gyro_P,r242550 177a 00C0 rjmp .L2372551 .L486:2552 177c 8091 0000 lds r24,Poti12553 1780 8093 0000 sts Parameter_Gyro_I,r242554 1784 00C0 rjmp .L2512555 .L493:2556 1786 8091 0000 lds r24,Poti12557 178a 8093 0000 sts Parameter_I_Faktor,r242558 178e 00C0 rjmp .L2712559 .L466:2560 1790 8091 0000 lds r24,Poti12561 1794 8093 0000 sts Parameter_MaxHoehe,r242562 1798 00C0 rjmp .L1792563 .L469:2564 179a 8091 0000 lds r24,Poti12565 179e 8093 0000 sts Parameter_Luftdruck_D,r242566 17a2 00C0 rjmp .L1892567 .L476:2568 17a4 8091 0000 lds r24,Poti12569 17a8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242570 17ac 00C0 rjmp .L2172571 .L472:2572 17ae 8091 0000 lds r24,Poti12573 17b2 8093 0000 sts Parameter_Hoehe_P,r242574 17b6 00C0 rjmp .L2032575 .L545:2576 17b8 8091 0000 lds r24,Poti32577 17bc 8093 0000 sts Parameter_J17Timing,r242578 17c0 00C0 rjmp .L4352579 .L550:2580 17c2 8091 0000 lds r24,Poti32581 17c6 8093 0000 sts Parameter_NaviGpsModeControl,r242582 17ca 00C0 rjmp .L4492583 .L553:2584 17cc 8091 0000 lds r24,Poti32585 17d0 8093 0000 sts Parameter_ExternalControl,r242586 17d4 00C0 rjmp .L4592587 .L485:2588 17d6 8091 0000 lds r24,Poti32589 17da 8093 0000 sts Parameter_Gyro_P,r242590 17de 00C0 rjmp .L2372591 .L488:2592 17e0 8091 0000 lds r24,Poti32593 17e4 8093 0000 sts Parameter_Gyro_I,r242594 17e8 00C0 rjmp .L2512595 .L492:2596 17ea 8091 0000 lds r24,Poti32597 17ee 8093 0000 sts Parameter_Gyro_D,r242598 17f2 00C0 rjmp .L2612599 .L482:2600 17f4 8091 0000 lds r24,Poti32601 17f8 8093 0000 sts Parameter_KompassWirkung,r242602 17fc 00C0 rjmp .L2272603 .L478:2604 17fe 8091 0000 lds r24,Poti32605 1802 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242606 1806 00C0 rjmp .L2172607 .L468:2608 1808 8091 0000 lds r24,Poti32609 180c 8093 0000 sts Parameter_MaxHoehe,r242610 1810 00C0 rjmp .L1792611 .L471:2612 1812 8091 0000 lds r24,Poti32613 1816 8093 0000 sts Parameter_Luftdruck_D,r242614 181a 00C0 rjmp .L1892615 .L474:2616 181c 8091 0000 lds r24,Poti32617 1820 8093 0000 sts Parameter_Hoehe_P,r242618 1824 00C0 rjmp .L2032619 .L534:2620 1826 8091 0000 lds r24,Poti32621 182a 8093 0000 sts Parameter_CouplingYawCorrection,r242622 182e 00C0 rjmp .L4012623 .L537:2624 1830 8091 0000 lds r24,Poti32625 1834 8093 0000 sts Parameter_DynamicStability,r242626 1838 00C0 rjmp .L4112627 .L540:2628 183a 8091 0000 lds r24,Poti32629 183e 8093 0000 sts Parameter_J16Timing,r242630 1842 00C0 rjmp .L4212631 .L531:2632 1844 8091 0000 lds r24,Poti32633 1848 8093 0000 sts Parameter_AchsKopplung2,r242634 184c 00C0 rjmp .L3912635 .L504:2636 184e 8091 0000 lds r24,Poti32637 1852 8093 0000 sts Parameter_UserParam3,r242638 1856 00C0 rjmp .L3012639 .L495:2640 1858 8091 0000 lds r24,Poti32641 185c 8093 0000 sts Parameter_I_Faktor,r242642 1860 00C0 rjmp .L2712643 .L498:2644 1862 8091 0000 lds r24,Poti32645 1866 8093 0000 sts Parameter_UserParam1,r242646 186a 00C0 rjmp .L2812647 .L501:2648 186c 8091 0000 lds r24,Poti32649 1870 8093 0000 sts Parameter_UserParam2,r242650 1874 00C0 rjmp .L2912651 .L528:2652 1876 8091 0000 lds r24,Poti32653 187a 8093 0000 sts Parameter_AchsKopplung1,r242654 187e 00C0 rjmp .L3812655 .L519:2656 1880 8091 0000 lds r24,Poti32657 1884 8093 0000 sts Parameter_UserParam8,r242658 1888 00C0 rjmp .L3512659 .L522:2660 188a 8091 0000 lds r24,Poti32661 188e 8093 0000 sts Parameter_ServoNickControl,r242662 1892 00C0 rjmp .L3612663 .L525:2664 1894 8091 0000 lds r24,Poti32665 1898 8093 0000 sts Parameter_LoopGasLimit,r242666 189c 00C0 rjmp .L3712667 .L510:2668 189e 8091 0000 lds r24,Poti32669 18a2 8093 0000 sts Parameter_UserParam5,r242670 18a6 00C0 rjmp .L3212671 .L513:2672 18a8 8091 0000 lds r24,Poti32673 18ac 8093 0000 sts Parameter_UserParam6,r242674 18b0 00C0 rjmp .L3312675 .L516:2676 18b2 8091 0000 lds r24,Poti32677 18b6 8093 0000 sts Parameter_UserParam7,r242678 18ba 00C0 rjmp .L3412679 .L507:2680 18bc 8091 0000 lds r24,Poti32681 18c0 8093 0000 sts Parameter_UserParam4,r242682 18c4 00C0 rjmp .L3112683 .L506:2684 18c6 8091 0000 lds r24,Poti22685 18ca 8093 0000 sts Parameter_UserParam4,r242686 18ce 00C0 rjmp .L3112687 .L512:2688 18d0 8091 0000 lds r24,Poti22689 18d4 8093 0000 sts Parameter_UserParam6,r242690 18d8 00C0 rjmp .L3312691 .L515:2692 18da 8091 0000 lds r24,Poti22693 18de 8093 0000 sts Parameter_UserParam7,r242694 18e2 00C0 rjmp .L3412695 .L494:2696 18e4 8091 0000 lds r24,Poti22697 18e8 8093 0000 sts Parameter_I_Faktor,r242698 18ec 00C0 rjmp .L2712699 .L497:2700 18ee 8091 0000 lds r24,Poti22701 18f2 8093 0000 sts Parameter_UserParam1,r242702 18f6 00C0 rjmp .L2812703 .L500:2704 18f8 8091 0000 lds r24,Poti22705 18fc 8093 0000 sts Parameter_UserParam2,r242706 1900 00C0 rjmp .L2912707 .L527:2708 1902 8091 0000 lds r24,Poti22709 1906 8093 0000 sts Parameter_AchsKopplung1,r242710 190a 00C0 rjmp .L3812711 .L518:2712 190c 8091 0000 lds r24,Poti22713 1910 8093 0000 sts Parameter_UserParam8,r242714 1914 00C0 rjmp .L3512715 .L521:2716 1916 8091 0000 lds r24,Poti22717 191a 8093 0000 sts Parameter_ServoNickControl,r242718 191e 00C0 rjmp .L3612719 .L524:2720 1920 8091 0000 lds r24,Poti22721 1924 8093 0000 sts Parameter_LoopGasLimit,r242722 1928 00C0 rjmp .L3712723 .L509:2724 192a 8091 0000 lds r24,Poti22725 192e 8093 0000 sts Parameter_UserParam5,r242726 1932 00C0 rjmp .L3212727 .L467:2728 1934 8091 0000 lds r24,Poti22729 1938 8093 0000 sts Parameter_MaxHoehe,r242730 193c 00C0 rjmp .L1792731 .L470:2732 193e 8091 0000 lds r24,Poti22733 1942 8093 0000 sts Parameter_Luftdruck_D,r242734 1946 00C0 rjmp .L1892735 .L473:2736 1948 8091 0000 lds r24,Poti22737 194c 8093 0000 sts Parameter_Hoehe_P,r242738 1950 00C0 rjmp .L2032739 .L533:2740 1952 8091 0000 lds r24,Poti22741 1956 8093 0000 sts Parameter_CouplingYawCorrection,r242742 195a 00C0 rjmp .L4012743 .L536:2744 195c 8091 0000 lds r24,Poti22745 1960 8093 0000 sts Parameter_DynamicStability,r242746 1964 00C0 rjmp .L4112747 .L539:2748 1966 8091 0000 lds r24,Poti22749 196a 8093 0000 sts Parameter_J16Timing,r242750 196e 00C0 rjmp .L4212751 .L530:2752 1970 8091 0000 lds r24,Poti22753 1974 8093 0000 sts Parameter_AchsKopplung2,r242754 1978 00C0 rjmp .L3912755 .L503:2756 197a 8091 0000 lds r24,Poti22757 197e 8093 0000 sts Parameter_UserParam3,r242758 1982 00C0 rjmp .L3012759 .L544:2760 1984 8091 0000 lds r24,Poti22761 1988 8093 0000 sts Parameter_J17Timing,r242762 198c 00C0 rjmp .L4352763 .L549:2764 198e 8091 0000 lds r24,Poti22765 1992 8093 0000 sts Parameter_NaviGpsModeControl,r242766 1996 00C0 rjmp .L4492767 .L552:2768 1998 8091 0000 lds r24,Poti22769 199c 8093 0000 sts Parameter_ExternalControl,r242770 19a0 00C0 rjmp .L4592771 .L484:2772 19a2 8091 0000 lds r24,Poti22773 19a6 8093 0000 sts Parameter_Gyro_P,r242774 19aa 00C0 rjmp .L2372775 .L487:2776 19ac 8091 0000 lds r24,Poti22777 19b0 8093 0000 sts Parameter_Gyro_I,r242778 19b4 00C0 rjmp .L2512779 .L491:2780 19b6 8091 0000 lds r24,Poti22781 19ba 8093 0000 sts Parameter_Gyro_D,r242782 19be 00C0 rjmp .L2612783 .L481:2784 19c0 8091 0000 lds r24,Poti22785 19c4 8093 0000 sts Parameter_KompassWirkung,r242786 19c8 00C0 rjmp .L2272787 .L477:2788 19ca 8091 0000 lds r24,Poti22789 19ce 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242790 19d2 00C0 rjmp .L2172791 .L459:2792 19d4 6091 0000 lds r22,Parameter_I_Faktor2793 19d8 70E0 ldi r23,lo8(0)2794 19da 6F5F subi r22,lo8(-(1))2795 19dc 7F4F sbci r23,hi8(-(1))2796 19de 8CE3 ldi r24,lo8(10300)2797 19e0 98E2 ldi r25,hi8(10300)2798 19e2 0E94 0000 call __divmodhi42799 19e6 7093 0000 sts (Ki)+1,r232800 19ea 6093 0000 sts Ki,r222801 19ee 8091 0000 lds r24,EE_Parameter+192802 19f2 8093 0000 sts MAX_GAS,r242803 19f6 8091 0000 lds r24,EE_Parameter+182804 19fa 8093 0000 sts MIN_GAS,r242805 /* epilogue: frame size=0 */2806 19fe 0895 ret2807 /* epilogue end (size=1) */2808 /* function ParameterZuordnung size 1094 (1093) */2810 .global SendMotorData2812 SendMotorData:2813 /* prologue: frame size=0 */2814 /* prologue end (size=0) */2815 1a00 8091 0000 lds r24,MotorenEin2816 1a04 8823 tst r242817 1a06 01F4 brne .L5552818 1a08 1092 0000 sts Motor_Hinten,__zero_reg__2819 1a0c 1092 0000 sts Motor_Vorne,__zero_reg__2820 1a10 1092 0000 sts Motor_Rechts,__zero_reg__2821 1a14 1092 0000 sts Motor_Links,__zero_reg__2822 1a18 8091 0000 lds r24,MotorTest2823 1a1c 8823 tst r242824 1a1e 01F0 breq .L5572825 1a20 8093 0000 sts Motor_Vorne,r242826 .L557:2827 1a24 8091 0000 lds r24,MotorTest+12828 1a28 8823 tst r242829 1a2a 01F0 breq .L5592830 1a2c 8093 0000 sts Motor_Hinten,r242831 .L559:2832 1a30 8091 0000 lds r24,MotorTest+22833 1a34 8823 tst r242834 1a36 01F0 breq .L5612835 1a38 8093 0000 sts Motor_Links,r242836 .L561:2837 1a3c 8091 0000 lds r24,MotorTest+32838 1a40 8823 tst r242839 1a42 01F4 brne .L5672840 .L563:2841 1a44 8091 0000 lds r24,MikroKopterFlags2842 1a48 8C7F andi r24,lo8(-4)2843 1a4a 8093 0000 sts MikroKopterFlags,r242844 1a4e 00C0 rjmp .L5652845 .L555:2846 1a50 8091 0000 lds r24,MikroKopterFlags2847 1a54 8160 ori r24,lo8(1)2848 1a56 8093 0000 sts MikroKopterFlags,r242849 1a5a 00C0 rjmp .L5652850 .L567:2851 1a5c 8093 0000 sts Motor_Rechts,r242852 1a60 00C0 rjmp .L5632853 .L565:2854 1a62 8091 0000 lds r24,Motor_Vorne2855 1a66 90E0 ldi r25,lo8(0)2856 1a68 9093 0000 sts (DebugOut+26)+1,r252857 1a6c 8093 0000 sts DebugOut+26,r242858 1a70 8091 0000 lds r24,Motor_Hinten2859 1a74 90E0 ldi r25,lo8(0)2860 1a76 9093 0000 sts (DebugOut+28)+1,r252861 1a7a 8093 0000 sts DebugOut+28,r242862 1a7e 8091 0000 lds r24,Motor_Links2863 1a82 90E0 ldi r25,lo8(0)2864 1a84 9093 0000 sts (DebugOut+30)+1,r252865 1a88 8093 0000 sts DebugOut+30,r242866 1a8c 8091 0000 lds r24,Motor_Rechts2867 1a90 90E0 ldi r25,lo8(0)2868 1a92 9093 0000 sts (DebugOut+32)+1,r252869 1a96 8093 0000 sts DebugOut+32,r242870 1a9a 1092 0000 sts twi_state,__zero_reg__2871 1a9e 1092 0000 sts motor,__zero_reg__2872 1aa2 0E94 0000 call i2c_start2873 /* epilogue: frame size=0 */2874 1aa6 0895 ret2875 /* epilogue end (size=1) */2876 /* function SendMotorData size 84 (83) */2878 .global CalibrierMittelwert2880 CalibrierMittelwert:2881 /* prologue: frame size=0 */2882 /* prologue end (size=0) */2883 1aa8 8091 0000 lds r24,PlatinenVersion2884 1aac 8D30 cpi r24,lo8(13)2885 1aae 01F4 brne .+22886 1ab0 00C0 rjmp .L6082887 .L569:2888 1ab2 1092 7A00 sts 122,__zero_reg__2889 1ab6 8091 0000 lds r24,AdWertNick2890 1aba 9091 0000 lds r25,(AdWertNick)+12891 1abe 9093 0000 sts (MesswertNick)+1,r252892 1ac2 8093 0000 sts MesswertNick,r242893 1ac6 8091 0000 lds r24,AdWertRoll2894 1aca 9091 0000 lds r25,(AdWertRoll)+12895 1ace 9093 0000 sts (MesswertRoll)+1,r252896 1ad2 8093 0000 sts MesswertRoll,r242897 1ad6 8091 0000 lds r24,AdWertGier2898 1ada 9091 0000 lds r25,(AdWertGier)+12899 1ade 9093 0000 sts (MesswertGier)+1,r252900 1ae2 8093 0000 sts MesswertGier,r242901 1ae6 6091 0000 lds r22,AdWertAccNick2902 1aea 7091 0000 lds r23,(AdWertAccNick)+12903 1aee 8827 clr r242904 1af0 77FD sbrc r23,72905 1af2 8095 com r242906 1af4 982F mov r25,r242907 1af6 26E0 ldi r18,lo8(6)2908 1af8 30E0 ldi r19,hi8(6)2909 1afa 40E0 ldi r20,hlo8(6)2910 1afc 50E0 ldi r21,hhi8(6)2911 1afe 0E94 0000 call __mulsi32912 1b02 7093 0000 sts (Mittelwert_AccNick)+1,r232913 1b06 6093 0000 sts Mittelwert_AccNick,r222914 1b0a 6091 0000 lds r22,AdWertAccRoll2915 1b0e 7091 0000 lds r23,(AdWertAccRoll)+12916 1b12 8827 clr r242917 1b14 77FD sbrc r23,72918 1b16 8095 com r242919 1b18 982F mov r25,r242920 1b1a 0E94 0000 call __mulsi32921 1b1e 7093 0000 sts (Mittelwert_AccRoll)+1,r232922 1b22 6093 0000 sts Mittelwert_AccRoll,r222923 1b26 8091 0000 lds r24,AdWertAccHoch2924 1b2a 9091 0000 lds r25,(AdWertAccHoch)+12925 1b2e 9093 0000 sts (Mittelwert_AccHoch)+1,r252926 1b32 8093 0000 sts Mittelwert_AccHoch,r242927 1b36 8FEC ldi r24,lo8(-49)2928 1b38 8093 7A00 sts 122,r242929 1b3c 8091 0000 lds r24,EE_Parameter+42930 1b40 E82F mov r30,r242931 1b42 F0E0 ldi r31,lo8(0)2932 1b44 EE0F lsl r302933 1b46 FF1F rol r312934 1b48 E050 subi r30,lo8(-(PPM_in))2935 1b4a F040 sbci r31,hi8(-(PPM_in))2936 1b4c 8081 ld r24,Z2937 1b4e 9181 ldd r25,Z+12938 1b50 A091 0000 lds r26,Poti12939 1b54 B091 0000 lds r27,(Poti1)+12940 1b58 8259 subi r24,lo8(-(110))2941 1b5a 9F4F sbci r25,hi8(-(110))2942 1b5c A817 cp r26,r242943 1b5e B907 cpc r27,r252944 1b60 04F0 brlt .+22945 1b62 00C0 rjmp .L5712946 1b64 1196 adiw r26,12947 1b66 B093 0000 sts (Poti1)+1,r272948 1b6a A093 0000 sts Poti1,r262949 .L573:2950 1b6e 8091 0000 lds r24,EE_Parameter+52951 1b72 E82F mov r30,r242952 1b74 F0E0 ldi r31,lo8(0)2953 1b76 EE0F lsl r302954 1b78 FF1F rol r312955 1b7a E050 subi r30,lo8(-(PPM_in))2956 1b7c F040 sbci r31,hi8(-(PPM_in))2957 1b7e 8081 ld r24,Z2958 1b80 9181 ldd r25,Z+12959 1b82 6091 0000 lds r22,Poti22960 1b86 7091 0000 lds r23,(Poti2)+12961 1b8a 8259 subi r24,lo8(-(110))2962 1b8c 9F4F sbci r25,hi8(-(110))2963 1b8e 6817 cp r22,r242964 1b90 7907 cpc r23,r252965 1b92 04F0 brlt .+22966 1b94 00C0 rjmp .L5762967 1b96 6F5F subi r22,lo8(-(1))2968 1b98 7F4F sbci r23,hi8(-(1))2969 1b9a 7093 0000 sts (Poti2)+1,r232970 1b9e 6093 0000 sts Poti2,r222971 .L578:2972 1ba2 8091 0000 lds r24,EE_Parameter+62973 1ba6 E82F mov r30,r242974 1ba8 F0E0 ldi r31,lo8(0)2975 1baa EE0F lsl r302976 1bac FF1F rol r312977 1bae E050 subi r30,lo8(-(PPM_in))2978 1bb0 F040 sbci r31,hi8(-(PPM_in))2979 1bb2 8081 ld r24,Z2980 1bb4 9181 ldd r25,Z+12981 1bb6 4091 0000 lds r20,Poti32982 1bba 5091 0000 lds r21,(Poti3)+12983 1bbe 8259 subi r24,lo8(-(110))2984 1bc0 9F4F sbci r25,hi8(-(110))2985 1bc2 4817 cp r20,r242986 1bc4 5907 cpc r21,r252987 1bc6 04F0 brlt .+22988 1bc8 00C0 rjmp .L5812989 1bca 4F5F subi r20,lo8(-(1))2990 1bcc 5F4F sbci r21,hi8(-(1))2991 1bce 5093 0000 sts (Poti3)+1,r212992 1bd2 4093 0000 sts Poti3,r202993 .L583:2994 1bd6 8091 0000 lds r24,EE_Parameter+72995 1bda E82F mov r30,r242996 1bdc F0E0 ldi r31,lo8(0)2997 1bde EE0F lsl r302998 1be0 FF1F rol r312999 1be2 E050 subi r30,lo8(-(PPM_in))3000 1be4 F040 sbci r31,hi8(-(PPM_in))3001 1be6 8081 ld r24,Z3002 1be8 9181 ldd r25,Z+13003 1bea 2091 0000 lds r18,Poti43004 1bee 3091 0000 lds r19,(Poti4)+13005 1bf2 8259 subi r24,lo8(-(110))3006 1bf4 9F4F sbci r25,hi8(-(110))3007 1bf6 2817 cp r18,r243008 1bf8 3907 cpc r19,r253009 1bfa 04F4 brge .L5863010 1bfc 2F5F subi r18,lo8(-(1))3011 1bfe 3F4F sbci r19,hi8(-(1))3012 1c00 3093 0000 sts (Poti4)+1,r193013 1c04 2093 0000 sts Poti4,r183014 .L588:3015 1c08 B7FD sbrc r27,73016 1c0a 00C0 rjmp .L6093017 .L591:3018 1c0c AF3F cpi r26,2553019 1c0e B105 cpc r27,__zero_reg__3020 1c10 01F0 breq .+43021 1c12 04F0 brlt .+23022 1c14 00C0 rjmp .L6103023 .L593:3024 1c16 77FD sbrc r23,73025 1c18 00C0 rjmp .L6113026 .L595:3027 1c1a 6F3F cpi r22,2553028 1c1c 7105 cpc r23,__zero_reg__3029 1c1e 01F0 breq .+43030 1c20 04F0 brlt .+23031 1c22 00C0 rjmp .L6123032 .L597:3033 1c24 57FD sbrc r21,73034 1c26 00C0 rjmp .L6133035 .L599:3036 1c28 4F3F cpi r20,2553037 1c2a 5105 cpc r21,__zero_reg__3038 1c2c 01F0 breq .+43039 1c2e 04F0 brlt .+23040 1c30 00C0 rjmp .L6143041 .L601:3042 1c32 37FD sbrc r19,73043 1c34 00C0 rjmp .L6153044 .L603:3045 1c36 2F3F cpi r18,2553046 1c38 3105 cpc r19,__zero_reg__3047 1c3a 01F0 breq .+23048 1c3c 04F4 brge .+23049 1c3e 00C0 rjmp .L6053050 1c40 8FEF ldi r24,lo8(255)3051 1c42 90E0 ldi r25,hi8(255)3052 1c44 9093 0000 sts (Poti4)+1,r253053 1c48 8093 0000 sts Poti4,r243054 1c4c 00C0 rjmp .L6053055 .L586:3056 1c4e 8081 ld r24,Z3057 1c50 9181 ldd r25,Z+13058 1c52 8259 subi r24,lo8(-(110))3059 1c54 9F4F sbci r25,hi8(-(110))3060 1c56 8217 cp r24,r183061 1c58 9307 cpc r25,r193062 1c5a 04F4 brge .L5883063 1c5c 2115 cp r18,__zero_reg__3064 1c5e 3105 cpc r19,__zero_reg__3065 1c60 01F0 breq .L5883066 1c62 2150 subi r18,lo8(-(-1))3067 1c64 3040 sbci r19,hi8(-(-1))3068 1c66 3093 0000 sts (Poti4)+1,r193069 1c6a 2093 0000 sts Poti4,r183070 1c6e B7FF sbrs r27,73071 1c70 00C0 rjmp .L5913072 .L609:3073 1c72 1092 0000 sts (Poti1)+1,__zero_reg__3074 1c76 1092 0000 sts Poti1,__zero_reg__3075 1c7a 77FF sbrs r23,73076 1c7c 00C0 rjmp .L5953077 .L611:3078 1c7e 1092 0000 sts (Poti2)+1,__zero_reg__3079 1c82 1092 0000 sts Poti2,__zero_reg__3080 1c86 57FF sbrs r21,73081 1c88 00C0 rjmp .L5993082 .L613:3083 1c8a 1092 0000 sts (Poti3)+1,__zero_reg__3084 1c8e 1092 0000 sts Poti3,__zero_reg__3085 1c92 37FF sbrs r19,73086 1c94 00C0 rjmp .L6033087 .L615:3088 1c96 1092 0000 sts (Poti4)+1,__zero_reg__3089 1c9a 1092 0000 sts Poti4,__zero_reg__3090 1c9e 00C0 rjmp .L6053091 .L581:3092 1ca0 8081 ld r24,Z3093 1ca2 9181 ldd r25,Z+13094 1ca4 8259 subi r24,lo8(-(110))3095 1ca6 9F4F sbci r25,hi8(-(110))3096 1ca8 8417 cp r24,r203097 1caa 9507 cpc r25,r213098 1cac 04F0 brlt .+23099 1cae 00C0 rjmp .L5833100 1cb0 4115 cp r20,__zero_reg__3101 1cb2 5105 cpc r21,__zero_reg__3102 1cb4 01F4 brne .+23103 1cb6 00C0 rjmp .L5833104 1cb8 4150 subi r20,lo8(-(-1))3105 1cba 5040 sbci r21,hi8(-(-1))3106 1cbc 5093 0000 sts (Poti3)+1,r213107 1cc0 4093 0000 sts Poti3,r203108 1cc4 00C0 rjmp .L5833109 .L576:3110 1cc6 8081 ld r24,Z3111 1cc8 9181 ldd r25,Z+13112 1cca 8259 subi r24,lo8(-(110))3113 1ccc 9F4F sbci r25,hi8(-(110))3114 1cce 8617 cp r24,r223115 1cd0 9707 cpc r25,r233116 1cd2 04F0 brlt .+23117 1cd4 00C0 rjmp .L5783118 1cd6 6115 cp r22,__zero_reg__3119 1cd8 7105 cpc r23,__zero_reg__3120 1cda 01F4 brne .+23121 1cdc 00C0 rjmp .L5783122 1cde 6150 subi r22,lo8(-(-1))3123 1ce0 7040 sbci r23,hi8(-(-1))3124 1ce2 7093 0000 sts (Poti2)+1,r233125 1ce6 6093 0000 sts Poti2,r223126 1cea 00C0 rjmp .L5783127 .L571:3128 1cec 8081 ld r24,Z3129 1cee 9181 ldd r25,Z+13130 1cf0 8259 subi r24,lo8(-(110))3131 1cf2 9F4F sbci r25,hi8(-(110))3132 1cf4 8A17 cp r24,r263133 1cf6 9B07 cpc r25,r273134 1cf8 04F0 brlt .+23135 1cfa 00C0 rjmp .L5733136 1cfc 1097 sbiw r26,03137 1cfe 01F4 brne .+23138 1d00 00C0 rjmp .L5733139 1d02 1197 sbiw r26,13140 1d04 B093 0000 sts (Poti1)+1,r273141 1d08 A093 0000 sts Poti1,r263142 1d0c 00C0 rjmp .L5733143 .L614:3144 1d0e 8FEF ldi r24,lo8(255)3145 1d10 90E0 ldi r25,hi8(255)3146 1d12 9093 0000 sts (Poti3)+1,r253147 1d16 8093 0000 sts Poti3,r243148 1d1a 00C0 rjmp .L6013149 .L612:3150 1d1c 8FEF ldi r24,lo8(255)3151 1d1e 90E0 ldi r25,hi8(255)3152 1d20 9093 0000 sts (Poti2)+1,r253153 1d24 8093 0000 sts Poti2,r243154 1d28 00C0 rjmp .L5973155 .L610:3156 1d2a 8FEF ldi r24,lo8(255)3157 1d2c 90E0 ldi r25,hi8(255)3158 1d2e 9093 0000 sts (Poti1)+1,r253159 1d32 8093 0000 sts Poti1,r243160 1d36 00C0 rjmp .L5933161 .L608:3162 1d38 0E94 0000 call SucheGyroOffset3163 1d3c 00C0 rjmp .L5693164 .L605:3165 1d3e 6091 0000 lds r22,EE_Parameter+453166 1d42 70E0 ldi r23,lo8(0)3167 1d44 80E0 ldi r24,lo8(0)3168 1d46 90E0 ldi r25,hi8(0)3169 1d48 24EC ldi r18,lo8(2500)3170 1d4a 39E0 ldi r19,hi8(2500)3171 1d4c 40E0 ldi r20,hlo8(2500)3172 1d4e 50E0 ldi r21,hhi8(2500)3173 1d50 0E94 0000 call __mulsi33174 1d54 6093 0000 sts Umschlag180Nick,r223175 1d58 7093 0000 sts (Umschlag180Nick)+1,r233176 1d5c 8093 0000 sts (Umschlag180Nick)+2,r243177 1d60 9093 0000 sts (Umschlag180Nick)+3,r253178 1d64 6091 0000 lds r22,EE_Parameter+463179 1d68 70E0 ldi r23,lo8(0)3180 1d6a 80E0 ldi r24,lo8(0)3181 1d6c 90E0 ldi r25,hi8(0)3182 1d6e 0E94 0000 call __mulsi33183 1d72 6093 0000 sts Umschlag180Roll,r223184 1d76 7093 0000 sts (Umschlag180Roll)+1,r233185 1d7a 8093 0000 sts (Umschlag180Roll)+2,r243186 1d7e 9093 0000 sts (Umschlag180Roll)+3,r253187 /* epilogue: frame size=0 */3188 1d82 0895 ret3189 /* epilogue end (size=1) */3190 /* function CalibrierMittelwert size 366 (365) */3192 .global SetNeutral3194 SetNeutral:3195 /* prologue: frame size=0 */3196 1d84 6F92 push r63197 1d86 7F92 push r73198 1d88 8F92 push r83199 1d8a 9F92 push r93200 1d8c AF92 push r103201 1d8e BF92 push r113202 1d90 CF92 push r123203 1d92 DF92 push r133204 1d94 EF92 push r143205 1d96 FF92 push r153206 1d98 0F93 push r163207 1d9a 1F93 push r173208 1d9c CF93 push r283209 1d9e DF93 push r293210 /* prologue end (size=14) */3211 1da0 1092 0000 sts ServoActive,__zero_reg__3212 1da4 469A sbi 40-0x20,63213 1da6 1092 0000 sts (NeutralAccX)+1,__zero_reg__3214 1daa 1092 0000 sts NeutralAccX,__zero_reg__3215 1dae 1092 0000 sts (NeutralAccY)+1,__zero_reg__3216 1db2 1092 0000 sts NeutralAccY,__zero_reg__3217 1db6 80E0 ldi r24,lo8(0x0)3218 1db8 90E0 ldi r25,hi8(0x0)3219 1dba A0E0 ldi r26,hlo8(0x0)3220 1dbc B0E0 ldi r27,hhi8(0x0)3221 1dbe 8093 0000 sts NeutralAccZ,r243222 1dc2 9093 0000 sts (NeutralAccZ)+1,r253223 1dc6 A093 0000 sts (NeutralAccZ)+2,r263224 1dca B093 0000 sts (NeutralAccZ)+3,r273225 1dce 1092 0000 sts (AdNeutralNick)+1,__zero_reg__3226 1dd2 1092 0000 sts AdNeutralNick,__zero_reg__3227 1dd6 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__3228 1dda 1092 0000 sts AdNeutralRoll,__zero_reg__3229 1dde 1092 0000 sts (AdNeutralGier)+1,__zero_reg__3230 1de2 1092 0000 sts AdNeutralGier,__zero_reg__3231 1de6 1092 0000 sts (AdNeutralGierBias)+1,__zero_reg__3232 1dea 1092 0000 sts AdNeutralGierBias,__zero_reg__3233 1dee 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__3234 1df2 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__3235 1df6 1092 0000 sts ExpandBaro,__zero_reg__3236 1dfa 0E94 0000 call CalibrierMittelwert3237 1dfe 84E6 ldi r24,lo8(100)3238 1e00 90E0 ldi r25,hi8(100)3239 1e02 0E94 0000 call Delay_ms_Mess3240 1e06 0E94 0000 call CalibrierMittelwert3241 1e0a 8091 0000 lds r24,EE_Parameter+83242 1e0e 80FF sbrs r24,03243 1e10 00C0 rjmp .L6173244 1e12 8091 0000 lds r24,MessLuftdruck3245 1e16 9091 0000 lds r25,(MessLuftdruck)+13246 1e1a 875B subi r24,lo8(951)3247 1e1c 9340 sbci r25,hi8(951)3248 1e1e 00F0 brlo .+23249 1e20 00C0 rjmp .L6193250 1e22 8091 0000 lds r24,MessLuftdruck3251 1e26 9091 0000 lds r25,(MessLuftdruck)+13252 1e2a 8E5E subi r24,lo8(750)3253 1e2c 9240 sbci r25,hi8(750)3254 1e2e 00F4 brsh .+23255 1e30 00C0 rjmp .L6193256 .L617:3257 1e32 EE24 clr r143258 1e34 CC24 clr r123259 1e36 DD24 clr r133260 1e38 C0E0 ldi r28,lo8(0)3261 1e3a D0E0 ldi r29,hi8(0)3262 1e3c 00E0 ldi r16,lo8(0)3263 1e3e 10E0 ldi r17,hi8(0)3264 .L621:3265 1e40 8AE0 ldi r24,lo8(10)3266 1e42 90E0 ldi r25,hi8(10)3267 1e44 0E94 0000 call Delay_ms_Mess3268 1e48 8091 0000 lds r24,AdWertGier3269 1e4c 9091 0000 lds r25,(AdWertGier)+13270 1e50 C80E add r12,r243271 1e52 D91E adc r13,r253272 1e54 8091 0000 lds r24,AdWertNick3273 1e58 9091 0000 lds r25,(AdWertNick)+13274 1e5c C80F add r28,r243275 1e5e D91F adc r29,r253276 1e60 8091 0000 lds r24,AdWertRoll3277 1e64 9091 0000 lds r25,(AdWertRoll)+13278 1e68 080F add r16,r243279 1e6a 191F adc r17,r253280 1e6c E394 inc r143281 1e6e 80E2 ldi r24,lo8(32)3282 1e70 E816 cp r14,r243283 1e72 01F4 brne .L6213284 1e74 AE01 movw r20,r283285 1e76 405F subi r20,lo8(-(16))3286 1e78 5F4F sbci r21,hi8(-(16))3287 1e7a 5695 lsr r213288 1e7c 4795 ror r203289 1e7e 5695 lsr r213290 1e80 4795 ror r203291 1e82 5093 0000 sts (AdNeutralNick)+1,r213292 1e86 4093 0000 sts AdNeutralNick,r203293 1e8a 9801 movw r18,r163294 1e8c 205F subi r18,lo8(-(16))3295 1e8e 3F4F sbci r19,hi8(-(16))3296 1e90 3695 lsr r193297 1e92 2795 ror r183298 1e94 3695 lsr r193299 1e96 2795 ror r183300 1e98 3093 0000 sts (AdNeutralRoll)+1,r193301 1e9c 2093 0000 sts AdNeutralRoll,r183302 1ea0 C601 movw r24,r123303 1ea2 4096 adiw r24,163304 1ea4 9695 lsr r253305 1ea6 8795 ror r243306 1ea8 9295 swap r253307 1eaa 8295 swap r243308 1eac 8F70 andi r24,0x0f3309 1eae 8927 eor r24,r253310 1eb0 9F70 andi r25,0x0f3311 1eb2 8927 eor r24,r253312 1eb4 9093 0000 sts (AdNeutralGier)+1,r253313 1eb8 8093 0000 sts AdNeutralGier,r243314 1ebc 9093 0000 sts (AdNeutralGierBias)+1,r253315 1ec0 8093 0000 sts AdNeutralGierBias,r243316 1ec4 3093 0000 sts (StartNeutralRoll)+1,r193317 1ec8 2093 0000 sts StartNeutralRoll,r183318 1ecc 5093 0000 sts (StartNeutralNick)+1,r213319 1ed0 4093 0000 sts StartNeutralNick,r203320 1ed4 40E0 ldi r20,lo8(EEPromArray+4)3321 1ed6 50E0 ldi r21,hi8(EEPromArray+4)3322 1ed8 DA01 movw r26,r203323 /* #APP */3324 1eda 0E94 0000 call __eeprom_read_byte_1F20213325 1ede 802D mov r24,__tmp_reg__3326 /* #NOAPP */3327 1ee0 8530 cpi r24,lo8(5)3328 1ee2 00F0 brlo .L6233329 1ee4 8091 0000 lds r24,Mittelwert_AccRoll3330 1ee8 9091 0000 lds r25,(Mittelwert_AccRoll)+13331 1eec 97FD sbrc r25,73332 1eee 00C0 rjmp .L6313333 .L625:3334 1ef0 6CE0 ldi r22,lo8(12)3335 1ef2 70E0 ldi r23,hi8(12)3336 1ef4 0E94 0000 call __divmodhi43337 1ef8 7093 0000 sts (NeutralAccY)+1,r233338 1efc 6093 0000 sts NeutralAccY,r223339 1f00 8091 0000 lds r24,Mittelwert_AccNick3340 1f04 9091 0000 lds r25,(Mittelwert_AccNick)+13341 1f08 97FD sbrc r25,73342 1f0a 00C0 rjmp .L6323343 .L626:3344 1f0c 6CE0 ldi r22,lo8(12)3345 1f0e 70E0 ldi r23,hi8(12)3346 1f10 0E94 0000 call __divmodhi43347 1f14 7093 0000 sts (NeutralAccX)+1,r233348 1f18 6093 0000 sts NeutralAccX,r223349 1f1c 6091 0000 lds r22,Aktuell_az3350 1f20 7091 0000 lds r23,(Aktuell_az)+13351 1f24 8827 clr r243352 1f26 77FD sbrc r23,73353 1f28 8095 com r243354 1f2a 982F mov r25,r243355 1f2c 0E94 0000 call __floatsisf3356 1f30 6093 0000 sts NeutralAccZ,r223357 1f34 7093 0000 sts (NeutralAccZ)+1,r233358 1f38 8093 0000 sts (NeutralAccZ)+2,r243359 1f3c 9093 0000 sts (NeutralAccZ)+3,r253360 1f40 00C0 rjmp .L6273361 .L623:3362 1f42 DA01 movw r26,r203363 /* #APP */3364 1f44 0E94 0000 call __eeprom_read_byte_1F20213365 1f48 802D mov r24,__tmp_reg__3366 /* #NOAPP */3367 1f4a 4F5F subi r20,lo8(-(1))3368 1f4c 5F4F sbci r21,hi8(-(1))3369 1f4e DA01 movw r26,r203370 /* #APP */3371 1f50 0E94 0000 call __eeprom_read_byte_1F20213372 1f54 202D mov r18,__tmp_reg__3373 /* #NOAPP */3374 1f56 90E0 ldi r25,lo8(0)3375 1f58 982F mov r25,r243376 1f5a 8827 clr r243377 1f5c 820F add r24,r183378 1f5e 911D adc r25,__zero_reg__3379 1f60 9093 0000 sts (NeutralAccX)+1,r253380 1f64 8093 0000 sts NeutralAccX,r243381 1f68 4F5F subi r20,lo8(-(1))3382 1f6a 5F4F sbci r21,hi8(-(1))3383 1f6c DA01 movw r26,r203384 /* #APP */3385 1f6e 0E94 0000 call __eeprom_read_byte_1F20213386 1f72 802D mov r24,__tmp_reg__3387 /* #NOAPP */3388 1f74 4F5F subi r20,lo8(-(1))3389 1f76 5F4F sbci r21,hi8(-(1))3390 1f78 DA01 movw r26,r203391 /* #APP */3392 1f7a 0E94 0000 call __eeprom_read_byte_1F20213393 1f7e 202D mov r18,__tmp_reg__3394 /* #NOAPP */3395 1f80 90E0 ldi r25,lo8(0)3396 1f82 982F mov r25,r243397 1f84 8827 clr r243398 1f86 820F add r24,r183399 1f88 911D adc r25,__zero_reg__3400 1f8a 9093 0000 sts (NeutralAccY)+1,r253401 1f8e 8093 0000 sts NeutralAccY,r243402 1f92 4F5F subi r20,lo8(-(1))3403 1f94 5F4F sbci r21,hi8(-(1))3404 1f96 DA01 movw r26,r203405 /* #APP */3406 1f98 0E94 0000 call __eeprom_read_byte_1F20213407 1f9c 602D mov r22,__tmp_reg__3408 /* #NOAPP */3409 1f9e 4F5F subi r20,lo8(-(1))3410 1fa0 5F4F sbci r21,hi8(-(1))3411 1fa2 DA01 movw r26,r203412 /* #APP */3413 1fa4 0E94 0000 call __eeprom_read_byte_1F20213414 1fa8 202D mov r18,__tmp_reg__3415 /* #NOAPP */3416 1faa 70E0 ldi r23,lo8(0)3417 1fac 762F mov r23,r223418 1fae 6627 clr r223419 1fb0 620F add r22,r183420 1fb2 711D adc r23,__zero_reg__3421 1fb4 8827 clr r243422 1fb6 77FD sbrc r23,73423 1fb8 8095 com r243424 1fba 982F mov r25,r243425 1fbc 0E94 0000 call __floatsisf3426 1fc0 6093 0000 sts NeutralAccZ,r223427 1fc4 7093 0000 sts (NeutralAccZ)+1,r233428 1fc8 8093 0000 sts (NeutralAccZ)+2,r243429 1fcc 9093 0000 sts (NeutralAccZ)+3,r253430 1fd0 00C0 rjmp .L6273431 .L619:3432 1fd2 0E94 0000 call SucheLuftruckOffset3433 1fd6 00C0 rjmp .L6173434 .L632:3435 1fd8 9095 com r253436 1fda 8195 neg r243437 1fdc 9F4F sbci r25,lo8(-1)3438 1fde 00C0 rjmp .L6263439 .L631:3440 1fe0 9095 com r253441 1fe2 8195 neg r243442 1fe4 9F4F sbci r25,lo8(-1)3443 1fe6 00C0 rjmp .L6253444 .L627:3445 1fe8 1092 0000 sts (MesswertNick)+1,__zero_reg__3446 1fec 1092 0000 sts MesswertNick,__zero_reg__3447 1ff0 1092 0000 sts (MesswertRoll)+1,__zero_reg__3448 1ff4 1092 0000 sts MesswertRoll,__zero_reg__3449 1ff8 1092 0000 sts (MesswertGier)+1,__zero_reg__3450 1ffc 1092 0000 sts MesswertGier,__zero_reg__3451 2000 84E6 ldi r24,lo8(100)3452 2002 90E0 ldi r25,hi8(100)3453 2004 0E94 0000 call Delay_ms_Mess3454 2008 6091 0000 lds r22,AdWertAccNick3455 200c 7091 0000 lds r23,(AdWertAccNick)+13456 2010 8827 clr r243457 2012 77FD sbrc r23,73458 2014 8095 com r243459 2016 982F mov r25,r243460 2018 26E0 ldi r18,lo8(6)3461 201a 30E0 ldi r19,hi8(6)3462 201c 40E0 ldi r20,hlo8(6)3463 201e 50E0 ldi r21,hhi8(6)3464 2020 0E94 0000 call __mulsi33465 2024 3B01 movw r6,r223466 2026 4C01 movw r8,r243467 2028 7093 0000 sts (Mittelwert_AccNick)+1,r233468 202c 6093 0000 sts Mittelwert_AccNick,r223469 2030 6091 0000 lds r22,AdWertAccRoll3470 2034 7091 0000 lds r23,(AdWertAccRoll)+13471 2038 8827 clr r243472 203a 77FD sbrc r23,73473 203c 8095 com r243474 203e 982F mov r25,r243475 2040 0E94 0000 call __mulsi33476 2044 5B01 movw r10,r223477 2046 6C01 movw r12,r243478 2048 7093 0000 sts (Mittelwert_AccRoll)+1,r233479 204c 6093 0000 sts Mittelwert_AccRoll,r223480 2050 E090 0000 lds r14,EE_Parameter+203481 2054 FF24 clr r153482 2056 00E0 ldi r16,lo8(0)3483 2058 10E0 ldi r17,hi8(0)3484 205a 8824 clr r83485 205c 77FC sbrc r7,73486 205e 8094 com r83487 2060 982C mov r9,r83488 2062 C401 movw r24,r83489 2064 B301 movw r22,r63490 2066 A801 movw r20,r163491 2068 9701 movw r18,r143492 206a 0E94 0000 call __mulsi33493 206e 3B01 movw r6,r223494 2070 4C01 movw r8,r243495 2072 6093 0000 sts IntegralNick,r223496 2076 7093 0000 sts (IntegralNick)+1,r233497 207a 8093 0000 sts (IntegralNick)+2,r243498 207e 9093 0000 sts (IntegralNick)+3,r253499 2082 CC24 clr r123500 2084 B7FC sbrc r11,73501 2086 C094 com r123502 2088 DC2C mov r13,r123503 208a C601 movw r24,r123504 208c B501 movw r22,r103505 208e 0E94 0000 call __mulsi33506 2092 6093 0000 sts IntegralRoll,r223507 2096 7093 0000 sts (IntegralRoll)+1,r233508 209a 8093 0000 sts (IntegralRoll)+2,r243509 209e 9093 0000 sts (IntegralRoll)+3,r253510 20a2 6092 0000 sts Mess_IntegralNick2,r63511 20a6 7092 0000 sts (Mess_IntegralNick2)+1,r73512 20aa 8092 0000 sts (Mess_IntegralNick2)+2,r83513 20ae 9092 0000 sts (Mess_IntegralNick2)+3,r93514 20b2 6093 0000 sts Mess_IntegralRoll2,r223515 20b6 7093 0000 sts (Mess_IntegralRoll2)+1,r233516 20ba 8093 0000 sts (Mess_IntegralRoll2)+2,r243517 20be 9093 0000 sts (Mess_IntegralRoll2)+3,r253518 20c2 1092 0000 sts Mess_Integral_Gier,__zero_reg__3519 20c6 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__3520 20ca 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__3521 20ce 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__3522 20d2 8091 0000 lds r24,Luftdruck3523 20d6 9091 0000 lds r25,(Luftdruck)+13524 20da A091 0000 lds r26,(Luftdruck)+23525 20de B091 0000 lds r27,(Luftdruck)+33526 20e2 9093 0000 sts (StartLuftdruck)+1,r253527 20e6 8093 0000 sts StartLuftdruck,r243528 20ea 1092 0000 sts (HoeheD)+1,__zero_reg__3529 20ee 1092 0000 sts HoeheD,__zero_reg__3530 20f2 1092 0000 sts Mess_Integral_Hoch,__zero_reg__3531 20f6 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__3532 20fa 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__3533 20fe 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__3534 2102 8091 0000 lds r24,KompassValue3535 2106 9091 0000 lds r25,(KompassValue)+13536 210a 9093 0000 sts (KompassStartwert)+1,r253537 210e 8093 0000 sts KompassStartwert,r243538 2112 0E94 0000 call GPS_Neutral3539 2116 82E3 ldi r24,lo8(50)3540 2118 90E0 ldi r25,hi8(50)3541 211a 9093 0000 sts (beeptime)+1,r253542 211e 8093 0000 sts beeptime,r243543 2122 6091 0000 lds r22,EE_Parameter+453544 2126 70E0 ldi r23,lo8(0)3545 2128 80E0 ldi r24,lo8(0)3546 212a 90E0 ldi r25,hi8(0)3547 212c 24EC ldi r18,lo8(2500)3548 212e 39E0 ldi r19,hi8(2500)3549 2130 40E0 ldi r20,hlo8(2500)3550 2132 50E0 ldi r21,hhi8(2500)3551 2134 0E94 0000 call __mulsi33552 2138 6856 subi r22,lo8(-(15000))3553 213a 754C sbci r23,hi8(-(15000))3554 213c 8F4F sbci r24,hlo8(-(15000))3555 213e 9F4F sbci r25,hhi8(-(15000))3556 2140 6093 0000 sts Umschlag180Nick,r223557 2144 7093 0000 sts (Umschlag180Nick)+1,r233558 2148 8093 0000 sts (Umschlag180Nick)+2,r243559 214c 9093 0000 sts (Umschlag180Nick)+3,r253560 2150 6091 0000 lds r22,EE_Parameter+463561 2154 70E0 ldi r23,lo8(0)3562 2156 80E0 ldi r24,lo8(0)3563 2158 90E0 ldi r25,hi8(0)3564 215a 0E94 0000 call __mulsi33565 215e 6856 subi r22,lo8(-(15000))3566 2160 754C sbci r23,hi8(-(15000))3567 2162 8F4F sbci r24,hlo8(-(15000))3568 2164 9F4F sbci r25,hhi8(-(15000))3569 2166 6093 0000 sts Umschlag180Roll,r223570 216a 7093 0000 sts (Umschlag180Roll)+1,r233571 216e 8093 0000 sts (Umschlag180Roll)+2,r243572 2172 9093 0000 sts (Umschlag180Roll)+3,r253573 2176 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__3574 217a 1092 0000 sts ExternHoehenValue,__zero_reg__3575 217e 6091 0000 lds r22,KompassValue3576 2182 7091 0000 lds r23,(KompassValue)+13577 2186 8827 clr r243578 2188 77FD sbrc r23,73579 218a 8095 com r243580 218c 982F mov r25,r243581 218e 2091 0000 lds r18,GIER_GRAD_FAKTOR3582 2192 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+13583 2196 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+23584 219a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+33585 219e 0E94 0000 call __mulsi33586 21a2 6093 0000 sts ErsatzKompass,r223587 21a6 7093 0000 sts (ErsatzKompass)+1,r233588 21aa 8093 0000 sts (ErsatzKompass)+2,r243589 21ae 9093 0000 sts (ErsatzKompass)+3,r253590 21b2 1092 0000 sts (GierGyroFehler)+1,__zero_reg__3591 21b6 1092 0000 sts GierGyroFehler,__zero_reg__3592 21ba 11E0 ldi r17,lo8(1)3593 21bc 1093 0000 sts SendVersionToNavi,r173594 21c0 0E94 0000 call LED_Init3595 21c4 8091 0000 lds r24,MikroKopterFlags3596 21c8 8460 ori r24,lo8(4)3597 21ca 8093 0000 sts MikroKopterFlags,r243598 21ce 8FEF ldi r24,lo8(-1)3599 21d0 8093 0000 sts FromNaviCtrl_Value,r243600 21d4 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__3601 21d8 80E2 ldi r24,lo8(32)3602 21da 8093 0000 sts FromNaviCtrl_Value+2,r243603 21de E091 0000 lds r30,EE_Parameter+43604 21e2 F0E0 ldi r31,lo8(0)3605 21e4 EE0F lsl r303606 21e6 FF1F rol r313607 21e8 E050 subi r30,lo8(-(PPM_in))3608 21ea F040 sbci r31,hi8(-(PPM_in))3609 21ec 8081 ld r24,Z3610 21ee 9181 ldd r25,Z+13611 21f0 8259 subi r24,lo8(-(110))3612 21f2 9F4F sbci r25,hi8(-(110))3613 21f4 9093 0000 sts (Poti1)+1,r253614 21f8 8093 0000 sts Poti1,r243615 21fc E091 0000 lds r30,EE_Parameter+53616 2200 F0E0 ldi r31,lo8(0)3617 2202 EE0F lsl r303618 2204 FF1F rol r313619 2206 E050 subi r30,lo8(-(PPM_in))3620 2208 F040 sbci r31,hi8(-(PPM_in))3621 220a 8081 ld r24,Z3622 220c 9181 ldd r25,Z+13623 220e 8259 subi r24,lo8(-(110))3624 2210 9F4F sbci r25,hi8(-(110))3625 2212 9093 0000 sts (Poti2)+1,r253626 2216 8093 0000 sts Poti2,r243627 221a E091 0000 lds r30,EE_Parameter+63628 221e F0E0 ldi r31,lo8(0)3629 2220 EE0F lsl r303630 2222 FF1F rol r313631 2224 E050 subi r30,lo8(-(PPM_in))3632 2226 F040 sbci r31,hi8(-(PPM_in))3633 2228 8081 ld r24,Z3634 222a 9181 ldd r25,Z+13635 222c 8259 subi r24,lo8(-(110))3636 222e 9F4F sbci r25,hi8(-(110))3637 2230 9093 0000 sts (Poti3)+1,r253638 2234 8093 0000 sts Poti3,r243639 2238 E091 0000 lds r30,EE_Parameter+73640 223c F0E0 ldi r31,lo8(0)3641 223e EE0F lsl r303642 2240 FF1F rol r313643 2242 E050 subi r30,lo8(-(PPM_in))3644 2244 F040 sbci r31,hi8(-(PPM_in))3645 2246 8081 ld r24,Z3646 2248 9181 ldd r25,Z+13647 224a 8259 subi r24,lo8(-(110))3648 224c 9F4F sbci r25,hi8(-(110))3649 224e 9093 0000 sts (Poti4)+1,r253650 2252 8093 0000 sts Poti4,r243651 2256 1093 0000 sts ServoActive,r173652 225a 84E6 ldi r24,lo8(100)3653 225c 8093 0000 sts SenderOkay,r243654 /* epilogue: frame size=0 */3655 2260 DF91 pop r293656 2262 CF91 pop r283657 2264 1F91 pop r173658 2266 0F91 pop r163659 2268 FF90 pop r153660 226a EF90 pop r143661 226c DF90 pop r133662 226e CF90 pop r123663 2270 BF90 pop r113664 2272 AF90 pop r103665 2274 9F90 pop r93666 2276 8F90 pop r83667 2278 7F90 pop r73668 227a 6F90 pop r63669 227c 0895 ret3670 /* epilogue end (size=15) */3671 /* function SetNeutral size 646 (617) */3673 .global Piep3675 Piep:3676 /* prologue: frame size=0 */3677 227e 1F93 push r173678 /* prologue end (size=1) */3679 2280 182F mov r17,r243680 2282 1150 subi r17,lo8(-(-1))3681 2284 1F3F cpi r17,lo8(-1)3682 2286 01F0 breq .L6383683 2288 8091 0000 lds r24,MotorenEin3684 228c 8823 tst r243685 228e 01F0 breq .L6393686 2290 00C0 rjmp .L6383687 .L637:3688 2292 8091 0000 lds r24,MotorenEin3689 2296 8823 tst r243690 2298 01F4 brne .L6383691 .L639:3692 229a 84E6 ldi r24,lo8(100)3693 229c 90E0 ldi r25,hi8(100)3694 229e 9093 0000 sts (beeptime)+1,r253695 22a2 8093 0000 sts beeptime,r243696 22a6 8AEF ldi r24,lo8(250)3697 22a8 90E0 ldi r25,hi8(250)3698 22aa 0E94 0000 call Delay_ms3699 22ae 1150 subi r17,13700 22b0 00F4 brcc .L6373701 .L638:3702 /* epilogue: frame size=0 */3703 22b2 1F91 pop r173704 22b4 0895 ret3705 /* epilogue end (size=2) */3706 /* function Piep size 29 (26) */3708 .data3709 .LC0:3710 0000 4265 6769 .string "Beginner"3710 6E6E 65723710 003711 0009 00 .string ""3712 .text3713 .global DefaultKonstanten33715 DefaultKonstanten3:3716 /* prologue: frame size=0 */3717 /* prologue end (size=0) */3718 22b6 88EE ldi r24,lo8(-24)3719 22b8 8093 0000 sts EE_Parameter+8,r243720 22bc 3EE1 ldi r19,lo8(30)3721 22be 3093 0000 sts EE_Parameter+9,r193722 22c2 8BEF ldi r24,lo8(-5)3723 22c4 8093 0000 sts EE_Parameter+11,r243724 22c8 8AE0 ldi r24,lo8(10)3725 22ca 8093 0000 sts EE_Parameter+12,r243726 22ce 3093 0000 sts EE_Parameter+10,r193727 22d2 3093 0000 sts EE_Parameter+14,r193728 22d6 93E0 ldi r25,lo8(3)3729 22d8 9093 0000 sts EE_Parameter+13,r253730 22dc 58E0 ldi r21,lo8(8)3731 22de 5093 0000 sts EE_Parameter+15,r213732 22e2 20E1 ldi r18,lo8(16)3733 22e4 2093 0000 sts EE_Parameter+16,r183734 22e8 66E0 ldi r22,lo8(6)3735 22ea 6093 0000 sts EE_Parameter+17,r223736 22ee 5093 0000 sts EE_Parameter+18,r213737 22f2 86EE ldi r24,lo8(-26)3738 22f4 8093 0000 sts EE_Parameter+19,r243739 22f8 3093 0000 sts EE_Parameter+20,r193740 22fc 80E8 ldi r24,lo8(-128)3741 22fe 8093 0000 sts EE_Parameter+21,r243742 2302 44E6 ldi r20,lo8(100)3743 2304 4093 0000 sts EE_Parameter+22,r203744 2308 88E7 ldi r24,lo8(120)3745 230a 8093 0000 sts EE_Parameter+23,r243746 230e 9093 0000 sts EE_Parameter+24,r253747 2312 8EE5 ldi r24,lo8(94)3748 2314 8093 0000 sts EE_Parameter+25,r243749 2318 83E2 ldi r24,lo8(35)3750 231a 8093 0000 sts EE_Parameter+26,r243751 231e 84E1 ldi r24,lo8(20)3752 2320 8093 0000 sts EE_Parameter+27,r243753 2324 1092 0000 sts EE_Parameter+28,__zero_reg__3754 2328 2093 0000 sts EE_Parameter+29,r183755 232c 1092 0000 sts EE_Parameter+30,__zero_reg__3756 2330 1092 0000 sts EE_Parameter+31,__zero_reg__3757 2334 1092 0000 sts EE_Parameter+32,__zero_reg__3758 2338 1092 0000 sts EE_Parameter+33,__zero_reg__3759 233c 1092 0000 sts EE_Parameter+50,__zero_reg__3760 2340 1092 0000 sts EE_Parameter+51,__zero_reg__3761 2344 1092 0000 sts EE_Parameter+52,__zero_reg__3762 2348 1092 0000 sts EE_Parameter+53,__zero_reg__3763 234c 4093 0000 sts EE_Parameter+34,r203764 2350 88E2 ldi r24,lo8(40)3765 2352 8093 0000 sts EE_Parameter+35,r243766 2356 1092 0000 sts EE_Parameter+76,__zero_reg__3767 235a 92E3 ldi r25,lo8(50)3768 235c 9093 0000 sts EE_Parameter+36,r253769 2360 86E9 ldi r24,lo8(-106)3770 2362 8093 0000 sts EE_Parameter+37,r243771 2366 85E0 ldi r24,lo8(5)3772 2368 8093 0000 sts EE_Parameter+38,r243773 236c 9093 0000 sts EE_Parameter+39,r253774 2370 2AE5 ldi r18,lo8(90)3775 2372 2093 0000 sts EE_Parameter+40,r183776 2376 9093 0000 sts EE_Parameter+41,r253777 237a 1092 0000 sts EE_Parameter+75,__zero_reg__3778 237e 2093 0000 sts EE_Parameter+42,r183779 2382 83E4 ldi r24,lo8(67)3780 2384 8093 0000 sts EE_Parameter+43,r243781 2388 86E4 ldi r24,lo8(70)3782 238a 8093 0000 sts EE_Parameter+44,r243783 238e 85E5 ldi r24,lo8(85)3784 2390 8093 0000 sts EE_Parameter+45,r243785 2394 8093 0000 sts EE_Parameter+46,r243786 2398 80E2 ldi r24,lo8(32)3787 239a 8093 0000 sts EE_Parameter+47,r243788 239e 8093 0000 sts EE_Parameter+48,r243789 23a2 9093 0000 sts EE_Parameter+49,r253790 23a6 8FE5 ldi r24,lo8(95)3791 23a8 8093 0000 sts EE_Parameter+54,r243792 23ac 83EF ldi r24,lo8(-13)3793 23ae 8093 0000 sts EE_Parameter+56,r243794 23b2 3093 0000 sts EE_Parameter+55,r193795 23b6 3093 0000 sts EE_Parameter+57,r193796 23ba 8DEF ldi r24,lo8(-3)3797 23bc 8093 0000 sts EE_Parameter+58,r243798 23c0 4093 0000 sts EE_Parameter+59,r203799 23c4 2093 0000 sts EE_Parameter+60,r183800 23c8 2093 0000 sts EE_Parameter+61,r183801 23cc 2093 0000 sts EE_Parameter+62,r183802 23d0 8BE4 ldi r24,lo8(75)3803 23d2 8093 0000 sts EE_Parameter+63,r243804 23d6 8093 0000 sts EE_Parameter+64,r243805 23da 8093 0000 sts EE_Parameter+65,r243806 23de 1092 0000 sts EE_Parameter+66,__zero_reg__3807 23e2 6093 0000 sts EE_Parameter+67,r223808 23e6 5093 0000 sts EE_Parameter+68,r213809 23ea 2093 0000 sts EE_Parameter+69,r183810 23ee 3093 0000 sts EE_Parameter+70,r193811 23f2 4093 0000 sts EE_Parameter+71,r203812 23f6 4093 0000 sts EE_Parameter+72,r203813 23fa 84E0 ldi r24,lo8(4)3814 23fc 8093 0000 sts EE_Parameter+73,r243815 2400 A0E0 ldi r26,lo8(EE_Parameter+81)3816 2402 B0E0 ldi r27,hi8(EE_Parameter+81)3817 2404 E0E0 ldi r30,lo8(.LC0)3818 2406 F0E0 ldi r31,hi8(.LC0)3819 2408 8CE0 ldi r24,lo8(12)3820 .L641:3821 240a 0190 ld r0,Z+3822 240c 0D92 st X+,r03823 240e 8150 subi r24,lo8(-(-1))3824 2410 01F4 brne .L6413825 /* epilogue: frame size=0 */3826 2412 0895 ret3827 /* epilogue end (size=1) */3828 /* function DefaultKonstanten3 size 176 (175) */3830 .data3831 .LC1:3832 000a 4E6F 726D .string "Normal"3832 616C 003833 0011 00 .string ""3834 .text3835 .global DefaultKonstanten23837 DefaultKonstanten2:3838 /* prologue: frame size=0 */3839 /* prologue end (size=0) */3840 2414 88E6 ldi r24,lo8(104)3841 2416 8093 0000 sts EE_Parameter+8,r243842 241a 5EE1 ldi r21,lo8(30)3843 241c 5093 0000 sts EE_Parameter+9,r213844 2420 8BEF ldi r24,lo8(-5)3845 2422 8093 0000 sts EE_Parameter+11,r243846 2426 8AE0 ldi r24,lo8(10)3847 2428 8093 0000 sts EE_Parameter+12,r243848 242c 5093 0000 sts EE_Parameter+10,r213849 2430 5093 0000 sts EE_Parameter+14,r213850 2434 93E0 ldi r25,lo8(3)3851 2436 9093 0000 sts EE_Parameter+13,r253852 243a 8CE0 ldi r24,lo8(12)3853 243c 8093 0000 sts EE_Parameter+15,r243854 2440 80E1 ldi r24,lo8(16)3855 2442 8093 0000 sts EE_Parameter+16,r243856 2446 76E0 ldi r23,lo8(6)3857 2448 7093 0000 sts EE_Parameter+17,r233858 244c 68E0 ldi r22,lo8(8)3859 244e 6093 0000 sts EE_Parameter+18,r223860 2452 86EE ldi r24,lo8(-26)3861 2454 8093 0000 sts EE_Parameter+19,r243862 2458 5093 0000 sts EE_Parameter+20,r213863 245c 80E8 ldi r24,lo8(-128)3864 245e 8093 0000 sts EE_Parameter+21,r243865 2462 80E5 ldi r24,lo8(80)3866 2464 8093 0000 sts EE_Parameter+22,r243867 2468 88E7 ldi r24,lo8(120)3868 246a 8093 0000 sts EE_Parameter+23,r243869 246e 9093 0000 sts EE_Parameter+24,r253870 2472 8EE5 ldi r24,lo8(94)3871 2474 8093 0000 sts EE_Parameter+25,r243872 2478 83E2 ldi r24,lo8(35)3873 247a 8093 0000 sts EE_Parameter+26,r243874 247e 5093 0000 sts EE_Parameter+27,r213875 2482 1092 0000 sts EE_Parameter+28,__zero_reg__3876 2486 30E2 ldi r19,lo8(32)3877 2488 3093 0000 sts EE_Parameter+29,r193878 248c 1092 0000 sts EE_Parameter+30,__zero_reg__3879 2490 1092 0000 sts EE_Parameter+31,__zero_reg__3880 2494 1092 0000 sts EE_Parameter+32,__zero_reg__3881 2498 1092 0000 sts EE_Parameter+33,__zero_reg__3882 249c 1092 0000 sts EE_Parameter+50,__zero_reg__3883 24a0 1092 0000 sts EE_Parameter+51,__zero_reg__3884 24a4 1092 0000 sts EE_Parameter+52,__zero_reg__3885 24a8 1092 0000 sts EE_Parameter+53,__zero_reg__3886 24ac 44E6 ldi r20,lo8(100)3887 24ae 4093 0000 sts EE_Parameter+34,r203888 24b2 88E2 ldi r24,lo8(40)3889 24b4 8093 0000 sts EE_Parameter+35,r243890 24b8 1092 0000 sts EE_Parameter+76,__zero_reg__3891 24bc 92E3 ldi r25,lo8(50)3892 24be 9093 0000 sts EE_Parameter+36,r253893 24c2 86E9 ldi r24,lo8(-106)3894 24c4 8093 0000 sts EE_Parameter+37,r243895 24c8 85E0 ldi r24,lo8(5)3896 24ca 8093 0000 sts EE_Parameter+38,r243897 24ce 9093 0000 sts EE_Parameter+39,r253898 24d2 2AE5 ldi r18,lo8(90)3899 24d4 2093 0000 sts EE_Parameter+40,r183900 24d8 9093 0000 sts EE_Parameter+41,r253901 24dc 1092 0000 sts EE_Parameter+75,__zero_reg__3902 24e0 2093 0000 sts EE_Parameter+42,r183903 24e4 83E4 ldi r24,lo8(67)3904 24e6 8093 0000 sts EE_Parameter+43,r243905 24ea 8CE3 ldi r24,lo8(60)3906 24ec 8093 0000 sts EE_Parameter+44,r243907 24f0 85E5 ldi r24,lo8(85)3908 24f2 8093 0000 sts EE_Parameter+45,r243909 24f6 8093 0000 sts EE_Parameter+46,r243910 24fa 3093 0000 sts EE_Parameter+47,r193911 24fe 3093 0000 sts EE_Parameter+48,r193912 2502 9BE4 ldi r25,lo8(75)3913 2504 9093 0000 sts EE_Parameter+49,r253914 2508 8FE5 ldi r24,lo8(95)3915 250a 8093 0000 sts EE_Parameter+54,r243916 250e 83EF ldi r24,lo8(-13)3917 2510 8093 0000 sts EE_Parameter+56,r243918 2514 84E1 ldi r24,lo8(20)3919 2516 8093 0000 sts EE_Parameter+55,r243920 251a 8093 0000 sts EE_Parameter+57,r243921 251e 8DEF ldi r24,lo8(-3)3922 2520 8093 0000 sts EE_Parameter+58,r243923 2524 4093 0000 sts EE_Parameter+59,r203924 2528 2093 0000 sts EE_Parameter+60,r183925 252c 2093 0000 sts EE_Parameter+61,r183926 2530 2093 0000 sts EE_Parameter+62,r183927 2534 9093 0000 sts EE_Parameter+63,r253928 2538 9093 0000 sts EE_Parameter+64,r253929 253c 9093 0000 sts EE_Parameter+65,r253930 2540 1092 0000 sts EE_Parameter+66,__zero_reg__3931 2544 7093 0000 sts EE_Parameter+67,r233932 2548 6093 0000 sts EE_Parameter+68,r223933 254c 2093 0000 sts EE_Parameter+69,r183934 2550 5093 0000 sts EE_Parameter+70,r213935 2554 4093 0000 sts EE_Parameter+71,r203936 2558 4093 0000 sts EE_Parameter+72,r203937 255c 84E0 ldi r24,lo8(4)3938 255e 8093 0000 sts EE_Parameter+73,r243939 2562 A0E0 ldi r26,lo8(EE_Parameter+81)3940 2564 B0E0 ldi r27,hi8(EE_Parameter+81)3941 2566 E0E0 ldi r30,lo8(.LC1)3942 2568 F0E0 ldi r31,hi8(.LC1)3943 256a 8CE0 ldi r24,lo8(12)3944 .L646:3945 256c 0190 ld r0,Z+3946 256e 0D92 st X+,r03947 2570 8150 subi r24,lo8(-(-1))3948 2572 01F4 brne .L6463949 /* epilogue: frame size=0 */3950 2574 0895 ret3951 /* epilogue end (size=1) */3952 /* function DefaultKonstanten2 size 178 (177) */3954 .data3955 .LC2:3956 0012 5370 6F72 .string "Sport"3956 74003957 0018 00 .string ""3958 .text3959 .global DefaultKonstanten13961 DefaultKonstanten1:3962 /* prologue: frame size=0 */3963 /* prologue end (size=0) */3964 2576 88E6 ldi r24,lo8(104)3965 2578 8093 0000 sts EE_Parameter+8,r243966 257c 3EE1 ldi r19,lo8(30)3967 257e 3093 0000 sts EE_Parameter+9,r193968 2582 8BEF ldi r24,lo8(-5)3969 2584 8093 0000 sts EE_Parameter+11,r243970 2588 8AE0 ldi r24,lo8(10)3971 258a 8093 0000 sts EE_Parameter+12,r243972 258e 3093 0000 sts EE_Parameter+10,r193973 2592 3093 0000 sts EE_Parameter+14,r193974 2596 E4E0 ldi r30,lo8(4)3975 2598 E093 0000 sts EE_Parameter+13,r303976 259c 5FE0 ldi r21,lo8(15)3977 259e 5093 0000 sts EE_Parameter+15,r213978 25a2 3093 0000 sts EE_Parameter+16,r193979 25a6 8CE0 ldi r24,lo8(12)3980 25a8 8093 0000 sts EE_Parameter+17,r243981 25ac 78E0 ldi r23,lo8(8)3982 25ae 7093 0000 sts EE_Parameter+18,r233983 25b2 86EE ldi r24,lo8(-26)3984 25b4 8093 0000 sts EE_Parameter+19,r243985 25b8 3093 0000 sts EE_Parameter+20,r193986 25bc 80E8 ldi r24,lo8(-128)3987 25be 8093 0000 sts EE_Parameter+21,r243988 25c2 80E5 ldi r24,lo8(80)3989 25c4 8093 0000 sts EE_Parameter+22,r243990 25c8 26E9 ldi r18,lo8(-106)3991 25ca 2093 0000 sts EE_Parameter+23,r183992 25ce 83E0 ldi r24,lo8(3)3993 25d0 8093 0000 sts EE_Parameter+24,r243994 25d4 8EE5 ldi r24,lo8(94)3995 25d6 8093 0000 sts EE_Parameter+25,r243996 25da 83E2 ldi r24,lo8(35)3997 25dc 8093 0000 sts EE_Parameter+26,r243998 25e0 3093 0000 sts EE_Parameter+27,r193999 25e4 1092 0000 sts EE_Parameter+28,__zero_reg__4000 25e8 60E2 ldi r22,lo8(32)4001 25ea 6093 0000 sts EE_Parameter+29,r224002 25ee 1092 0000 sts EE_Parameter+30,__zero_reg__4003 25f2 1092 0000 sts EE_Parameter+31,__zero_reg__4004 25f6 1092 0000 sts EE_Parameter+32,__zero_reg__4005 25fa 1092 0000 sts EE_Parameter+33,__zero_reg__4006 25fe 1092 0000 sts EE_Parameter+50,__zero_reg__4007 2602 1092 0000 sts EE_Parameter+51,__zero_reg__4008 2606 1092 0000 sts EE_Parameter+52,__zero_reg__4009 260a 1092 0000 sts EE_Parameter+53,__zero_reg__4010 260e 44E6 ldi r20,lo8(100)4011 2610 4093 0000 sts EE_Parameter+34,r204012 2614 88E2 ldi r24,lo8(40)4013 2616 8093 0000 sts EE_Parameter+35,r244014 261a 1092 0000 sts EE_Parameter+76,__zero_reg__4015 261e 92E3 ldi r25,lo8(50)4016 2620 9093 0000 sts EE_Parameter+36,r254017 2624 2093 0000 sts EE_Parameter+37,r184018 2628 85E0 ldi r24,lo8(5)4019 262a 8093 0000 sts EE_Parameter+38,r244020 262e 9093 0000 sts EE_Parameter+39,r254021 2632 2AE5 ldi r18,lo8(90)4022 2634 2093 0000 sts EE_Parameter+40,r184023 2638 9093 0000 sts EE_Parameter+41,r254024 263c 1092 0000 sts EE_Parameter+75,__zero_reg__4025 2640 2093 0000 sts EE_Parameter+42,r184026 2644 83E4 ldi r24,lo8(67)4027 2646 8093 0000 sts EE_Parameter+43,r244028 264a 1092 0000 sts EE_Parameter+44,__zero_reg__4029 264e 85E5 ldi r24,lo8(85)4030 2650 8093 0000 sts EE_Parameter+45,r244031 2654 8093 0000 sts EE_Parameter+46,r244032 2658 80E1 ldi r24,lo8(16)4033 265a 8093 0000 sts EE_Parameter+47,r244034 265e 6093 0000 sts EE_Parameter+48,r224035 2662 4093 0000 sts EE_Parameter+49,r204036 2666 8FE5 ldi r24,lo8(95)4037 2668 8093 0000 sts EE_Parameter+54,r244038 266c 83EF ldi r24,lo8(-13)4039 266e 8093 0000 sts EE_Parameter+56,r244040 2672 5093 0000 sts EE_Parameter+55,r214041 2676 5093 0000 sts EE_Parameter+57,r214042 267a 8DEF ldi r24,lo8(-3)4043 267c 8093 0000 sts EE_Parameter+58,r244044 2680 4093 0000 sts EE_Parameter+59,r204045 2684 2093 0000 sts EE_Parameter+60,r184046 2688 2093 0000 sts EE_Parameter+61,r184047 268c 2093 0000 sts EE_Parameter+62,r184048 2690 8BE4 ldi r24,lo8(75)4049 2692 8093 0000 sts EE_Parameter+63,r244050 2696 8093 0000 sts EE_Parameter+64,r244051 269a 8093 0000 sts EE_Parameter+65,r244052 269e 1092 0000 sts EE_Parameter+66,__zero_reg__4053 26a2 86E0 ldi r24,lo8(6)4054 26a4 8093 0000 sts EE_Parameter+67,r244055 26a8 7093 0000 sts EE_Parameter+68,r234056 26ac 2093 0000 sts EE_Parameter+69,r184057 26b0 3093 0000 sts EE_Parameter+70,r194058 26b4 4093 0000 sts EE_Parameter+71,r204059 26b8 4093 0000 sts EE_Parameter+72,r204060 26bc E093 0000 sts EE_Parameter+73,r304061 26c0 A0E0 ldi r26,lo8(EE_Parameter+81)4062 26c2 B0E0 ldi r27,hi8(EE_Parameter+81)4063 26c4 E0E0 ldi r30,lo8(.LC2)4064 26c6 F0E0 ldi r31,hi8(.LC2)4065 26c8 8CE0 ldi r24,lo8(12)4066 .L651:4067 26ca 0190 ld r0,Z+4068 26cc 0D92 st X+,r04069 26ce 8150 subi r24,lo8(-(-1))4070 26d0 01F4 brne .L6514071 /* epilogue: frame size=0 */4072 26d2 0895 ret4073 /* epilogue end (size=1) */4074 /* function DefaultKonstanten1 size 176 (175) */4076 .global MotorRegler4078 MotorRegler:4079 /* prologue: frame size=46 */4080 26d4 2F92 push r24081 26d6 3F92 push r34082 26d8 4F92 push r44083 26da 5F92 push r54084 26dc 6F92 push r64085 26de 7F92 push r74086 26e0 8F92 push r84087 26e2 9F92 push r94088 26e4 AF92 push r104089 26e6 BF92 push r114090 26e8 CF92 push r124091 26ea DF92 push r134092 26ec EF92 push r144093 26ee FF92 push r154094 26f0 0F93 push r164095 26f2 1F93 push r174096 26f4 CF93 push r284097 26f6 DF93 push r294098 26f8 CDB7 in r28,__SP_L__4099 26fa DEB7 in r29,__SP_H__4100 26fc AE97 sbiw r28,464101 26fe 0FB6 in __tmp_reg__,__SREG__4102 2700 F894 cli4103 2702 DEBF out __SP_H__,r294104 2704 0FBE out __SREG__,__tmp_reg__4105 2706 CDBF out __SP_L__,r284106 /* prologue end (size=26) */4107 2708 0E94 0000 call Mittelwert4108 270c 4091 0000 lds r20,PlatinenVersion4109 2710 4C30 cpi r20,lo8(12)4110 2712 00F0 brlo .+24111 2714 00C0 rjmp .L6564112 2716 299A sbi 37-0x20,14113 .L658:4114 2718 2091 0000 lds r18,StickGas4115 271c 3091 0000 lds r19,(StickGas)+14116 2720 8091 0000 lds r24,MIN_GAS4117 2724 682F mov r22,r244118 2726 70E0 ldi r23,lo8(0)4119 2728 665F subi r22,lo8(-(10))4120 272a 7F4F sbci r23,hi8(-(10))4121 272c 798B std Y+17,r234122 272e 688B std Y+16,r224123 2730 6217 cp r22,r184124 2732 7307 cpc r23,r194125 2734 04F4 brge .L6594126 2736 398B std Y+17,r194127 2738 288B std Y+16,r184128 .L659:4129 273a 8091 0000 lds r24,SenderOkay4130 273e 8436 cpi r24,lo8(100)4131 2740 00F0 brlo .+24132 2742 00C0 rjmp .L6604133 2744 8091 0000 lds r24,PcZugriff4134 2748 8823 tst r244135 274a 01F4 brne .L6624136 274c 8091 0000 lds r24,BeepMuster4137 2750 9091 0000 lds r25,(BeepMuster)+14138 2754 8F5F subi r24,lo8(-1)4139 2756 9F4F sbci r25,hi8(-1)4140 2758 01F4 brne .+44141 275a 0C94 0000 jmp .L10684142 .L662:4143 275e 8091 0000 lds r24,RcLostTimer.30754144 2762 9091 0000 lds r25,(RcLostTimer.3075)+14145 2766 0097 sbiw r24,04146 2768 01F4 brne .+24147 276a 00C0 rjmp .L6654148 276c 0197 sbiw r24,14149 276e 9093 0000 sts (RcLostTimer.3075)+1,r254150 2772 8093 0000 sts RcLostTimer.3075,r244151 2776 4A30 cpi r20,lo8(10)4152 2778 01F4 brne .+24153 277a 00C0 rjmp .L6684154 .L1107:4155 277c 4431 cpi r20,lo8(20)4156 277e 01F4 brne .+24157 2780 00C0 rjmp .L6684158 2782 2898 cbi 37-0x20,04159 .L671:4160 2784 8091 0000 lds r24,modell_fliegt4161 2788 9091 0000 lds r25,(modell_fliegt)+14162 278c 895E subi r24,lo8(1001)4163 278e 9340 sbci r25,hi8(1001)4164 2790 00F4 brsh .+44165 2792 0C94 0000 jmp .L6724166 2796 8091 0000 lds r24,EE_Parameter+264167 279a E82F mov r30,r244168 279c F0E0 ldi r31,lo8(0)4169 279e F98B std Y+17,r314170 27a0 E88B std Y+16,r304171 27a2 F1E0 ldi r31,lo8(1)4172 27a4 F093 0000 sts Notlandung,r314173 27a8 A091 0000 lds r26,EE_Parameter4174 27ac B0E0 ldi r27,lo8(0)4175 27ae AA0F lsl r264176 27b0 BB1F rol r274177 27b2 FD01 movw r30,r264178 27b4 E050 subi r30,lo8(-(PPM_diff))4179 27b6 F040 sbci r31,hi8(-(PPM_diff))4180 27b8 1182 std Z+1,__zero_reg__4181 27ba 1082 st Z,__zero_reg__4182 27bc E091 0000 lds r30,EE_Parameter+14183 27c0 2E2F mov r18,r304184 27c2 30E0 ldi r19,lo8(0)4185 27c4 220F lsl r184186 27c6 331F rol r194187 27c8 C901 movw r24,r184188 27ca 8050 subi r24,lo8(-(PPM_diff))4189 27cc 9040 sbci r25,hi8(-(PPM_diff))4190 27ce FC01 movw r30,r244191 27d0 1182 std Z+1,__zero_reg__4192 27d2 1082 st Z,__zero_reg__4193 27d4 A050 subi r26,lo8(-(PPM_in))4194 27d6 B040 sbci r27,hi8(-(PPM_in))4195 27d8 1196 adiw r26,14196 27da 1C92 st X,__zero_reg__4197 27dc 1E92 st -X,__zero_reg__4198 27de 2050 subi r18,lo8(-(PPM_in))4199 27e0 3040 sbci r19,hi8(-(PPM_in))4200 27e2 D901 movw r26,r184201 27e4 1196 adiw r26,14202 27e6 1C92 st X,__zero_reg__4203 27e8 1E92 st -X,__zero_reg__4204 27ea E091 0000 lds r30,EE_Parameter+34205 27ee F0E0 ldi r31,lo8(0)4206 27f0 EE0F lsl r304207 27f2 FF1F rol r314208 27f4 E050 subi r30,lo8(-(PPM_in))4209 27f6 F040 sbci r31,hi8(-(PPM_in))4210 27f8 1182 std Z+1,__zero_reg__4211 27fa 1082 st Z,__zero_reg__4212 .L674:4213 27fc 8091 0000 lds r24,NewPpmData4214 2800 8150 subi r24,lo8(-(-1))4215 2802 8093 0000 sts NewPpmData,r244216 2806 8091 0000 lds r24,NewPpmData4217 280a 8F3F cpi r24,lo8(-1)4218 280c 01F4 brne .+24219 280e 00C0 rjmp .L7384220 2810 B091 0000 lds r27,Notlandung4221 2814 BFA3 std Y+39,r274222 2816 BB23 tst r274223 2818 01F0 breq .+24224 281a 00C0 rjmp .L7384225 281c B091 0000 lds r27,EE_Parameter+84226 .L740:4227 2820 2091 0000 lds r18,Looping_Roll4228 2824 2223 tst r184229 2826 01F4 brne .+44230 2828 0C94 0000 jmp .L10694231 .L804:4232 282c 8091 0000 lds r24,EE_Parameter+394233 2830 90E0 ldi r25,lo8(0)4234 2832 6889 ldd r22,Y+164235 2834 7989 ldd r23,Y+174236 2836 8617 cp r24,r224237 2838 9707 cpc r25,r234238 283a 04F4 brge .L8074239 283c 998B std Y+17,r254240 283e 888B std Y+16,r244241 .L807:4242 2840 71E0 ldi r23,lo8(1)4243 2842 7093 0000 sts TrichterFlug,r234244 2846 8B2F mov r24,r274245 2848 90E0 ldi r25,lo8(0)4246 284a 9B87 std Y+11,r254247 284c 8A87 std Y+10,r244248 .L806:4249 284e 9FA1 ldd r25,Y+394250 2850 9923 tst r254251 2852 01F0 breq .L8084252 2854 1092 0000 sts (StickGier)+1,__zero_reg__4253 2858 1092 0000 sts StickGier,__zero_reg__4254 285c 1092 0000 sts (StickNick)+1,__zero_reg__4255 2860 1092 0000 sts StickNick,__zero_reg__4256 2864 1092 0000 sts (StickRoll)+1,__zero_reg__4257 2868 1092 0000 sts StickRoll,__zero_reg__4258 286c 8AE5 ldi r24,lo8(90)4259 286e 8093 0000 sts GyroFaktor,r244260 2872 A8E7 ldi r26,lo8(120)4261 2874 A093 0000 sts IntegralFaktor,r264262 2878 1092 0000 sts Looping_Roll,__zero_reg__4263 287c 1092 0000 sts Looping_Nick,__zero_reg__4264 .L808:4265 2880 2091 0000 lds r18,IntegralNick4266 2884 3091 0000 lds r19,(IntegralNick)+14267 2888 4091 0000 lds r20,(IntegralNick)+24268 288c 5091 0000 lds r21,(IntegralNick)+34269 2890 2983 std Y+1,r184270 2892 3A83 std Y+2,r194271 2894 4B83 std Y+3,r204272 2896 5C83 std Y+4,r214273 2898 4091 0000 lds r20,MittelIntegralNick4274 289c 5091 0000 lds r21,(MittelIntegralNick)+14275 28a0 6091 0000 lds r22,(MittelIntegralNick)+24276 28a4 7091 0000 lds r23,(MittelIntegralNick)+34277 28a8 48A7 std Y+40,r204278 28aa 59A7 std Y+41,r214279 28ac 6AA7 std Y+42,r224280 28ae 7BA7 std Y+43,r234281 28b0 8981 ldd r24,Y+14282 28b2 9A81 ldd r25,Y+24283 28b4 AB81 ldd r26,Y+34284 28b6 BC81 ldd r27,Y+44285 28b8 480F add r20,r244286 28ba 591F adc r21,r254287 28bc 6A1F adc r22,r264288 28be 7B1F adc r23,r274289 28c0 4093 0000 sts MittelIntegralNick,r204290 28c4 5093 0000 sts (MittelIntegralNick)+1,r214291 28c8 6093 0000 sts (MittelIntegralNick)+2,r224292 28cc 7093 0000 sts (MittelIntegralNick)+3,r234293 28d0 2091 0000 lds r18,IntegralRoll4294 28d4 3091 0000 lds r19,(IntegralRoll)+14295 28d8 4091 0000 lds r20,(IntegralRoll)+24296 28dc 5091 0000 lds r21,(IntegralRoll)+34297 28e0 2D83 std Y+5,r184298 28e2 3E83 std Y+6,r194299 28e4 4F83 std Y+7,r204300 28e6 5887 std Y+8,r214301 28e8 2090 0000 lds r2,MittelIntegralRoll4302 28ec 3090 0000 lds r3,(MittelIntegralRoll)+14303 28f0 4090 0000 lds r4,(MittelIntegralRoll)+24304 28f4 5090 0000 lds r5,(MittelIntegralRoll)+34305 28f8 220E add r2,r184306 28fa 331E adc r3,r194307 28fc 441E adc r4,r204308 28fe 551E adc r5,r214309 2900 2092 0000 sts MittelIntegralRoll,r24310 2904 3092 0000 sts (MittelIntegralRoll)+1,r34311 2908 4092 0000 sts (MittelIntegralRoll)+2,r44312 290c 5092 0000 sts (MittelIntegralRoll)+3,r54313 2910 4091 0000 lds r20,IntegralNick24314 2914 5091 0000 lds r21,(IntegralNick2)+14315 2918 6091 0000 lds r22,(IntegralNick2)+24316 291c 7091 0000 lds r23,(IntegralNick2)+34317 2920 49A3 std Y+33,r204318 2922 5AA3 std Y+34,r214319 2924 6BA3 std Y+35,r224320 2926 7CA3 std Y+36,r234321 2928 8091 0000 lds r24,MittelIntegralNick24322 292c 9091 0000 lds r25,(MittelIntegralNick2)+14323 2930 A091 0000 lds r26,(MittelIntegralNick2)+24324 2934 B091 0000 lds r27,(MittelIntegralNick2)+34325 2938 840F add r24,r204326 293a 951F adc r25,r214327 293c A61F adc r26,r224328 293e B71F adc r27,r234329 2940 8093 0000 sts MittelIntegralNick2,r244330 2944 9093 0000 sts (MittelIntegralNick2)+1,r254331 2948 A093 0000 sts (MittelIntegralNick2)+2,r264332 294c B093 0000 sts (MittelIntegralNick2)+3,r274333 2950 6091 0000 lds r22,IntegralRoll24334 2954 7091 0000 lds r23,(IntegralRoll2)+14335 2958 8091 0000 lds r24,(IntegralRoll2)+24336 295c 9091 0000 lds r25,(IntegralRoll2)+34337 2960 6D8F std Y+29,r224338 2962 7E8F std Y+30,r234339 2964 8F8F std Y+31,r244340 2966 98A3 std Y+32,r254341 2968 8091 0000 lds r24,MittelIntegralRoll24342 296c 9091 0000 lds r25,(MittelIntegralRoll2)+14343 2970 A091 0000 lds r26,(MittelIntegralRoll2)+24344 2974 B091 0000 lds r27,(MittelIntegralRoll2)+34345 2978 2D8D ldd r18,Y+294346 297a 3E8D ldd r19,Y+304347 297c 4F8D ldd r20,Y+314348 297e 58A1 ldd r21,Y+324349 2980 820F add r24,r184350 2982 931F adc r25,r194351 2984 A41F adc r26,r204352 2986 B51F adc r27,r214353 2988 8093 0000 sts MittelIntegralRoll2,r244354 298c 9093 0000 sts (MittelIntegralRoll2)+1,r254355 2990 A093 0000 sts (MittelIntegralRoll2)+2,r264356 2994 B093 0000 sts (MittelIntegralRoll2)+3,r274357 2998 3091 0000 lds r19,Looping_Nick4358 299c 3987 std Y+9,r194359 299e 3323 tst r194360 29a0 01F4 brne .+44361 29a2 0C94 0000 jmp .L10704362 29a6 1092 0000 sts IntegralAccNick,__zero_reg__4363 29aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__4364 29ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__4365 29b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__4366 29b6 1092 0000 sts IntegralAccRoll,__zero_reg__4367 29ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__4368 29be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__4369 29c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__4370 29c6 1092 0000 sts MittelIntegralNick,__zero_reg__4371 29ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__4372 29ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__4373 29d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__4374 29d6 1092 0000 sts MittelIntegralRoll,__zero_reg__4375 29da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__4376 29de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__4377 29e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__4378 29e6 1092 0000 sts MittelIntegralNick2,__zero_reg__4379 29ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__4380 29ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__4381 29f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__4382 29f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__4383 29fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__4384 29fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__4385 2a02 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__4386 2a06 8091 0000 lds r24,Mess_IntegralNick4387 2a0a 9091 0000 lds r25,(Mess_IntegralNick)+14388 2a0e A091 0000 lds r26,(Mess_IntegralNick)+24389 2a12 B091 0000 lds r27,(Mess_IntegralNick)+34390 2a16 8093 0000 sts Mess_IntegralNick2,r244391 2a1a 9093 0000 sts (Mess_IntegralNick2)+1,r254392 2a1e A093 0000 sts (Mess_IntegralNick2)+2,r264393 2a22 B093 0000 sts (Mess_IntegralNick2)+3,r274394 2a26 8091 0000 lds r24,Mess_IntegralRoll4395 2a2a 9091 0000 lds r25,(Mess_IntegralRoll)+14396 2a2e A091 0000 lds r26,(Mess_IntegralRoll)+24397 2a32 B091 0000 lds r27,(Mess_IntegralRoll)+34398 2a36 8093 0000 sts Mess_IntegralRoll2,r244399 2a3a 9093 0000 sts (Mess_IntegralRoll2)+1,r254400 2a3e A093 0000 sts (Mess_IntegralRoll2)+2,r264401 2a42 B093 0000 sts (Mess_IntegralRoll2)+3,r274402 2a46 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__4403 2a4a 1092 0000 sts ZaehlMessungen,__zero_reg__4404 2a4e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4405 2a52 1092 0000 sts LageKorrekturNick,__zero_reg__4406 2a56 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4407 2a5a 1092 0000 sts LageKorrekturRoll,__zero_reg__4408 2a5e 5091 0000 lds r21,Looping_Roll4409 2a62 5CA7 std Y+44,r214410 .L814:4411 2a64 8091 0000 lds r24,ZaehlMessungen4412 2a68 9091 0000 lds r25,(ZaehlMessungen)+14413 2a6c 8F3F cpi r24,2554414 2a6e 9105 cpc r25,__zero_reg__4415 2a70 01F0 breq .+24416 2a72 00F4 brsh .+44417 2a74 0C94 0000 jmp .L10594418 2a78 B985 ldd r27,Y+94419 2a7a BB23 tst r274420 2a7c 01F4 brne .L8444421 2a7e ECA5 ldd r30,Y+444422 2a80 EE23 tst r304423 2a82 01F4 brne .+44424 2a84 0C94 0000 jmp .L10714425 .L844:4426 2a88 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4427 2a8c 1092 0000 sts LageKorrekturRoll,__zero_reg__4428 2a90 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4429 2a94 1092 0000 sts LageKorrekturNick,__zero_reg__4430 2a98 1EA2 std Y+38,__zero_reg__4431 2a9a 1092 0000 sts TrichterFlug,__zero_reg__4432 2a9e 2091 0000 lds r18,MittelIntegralNick4433 2aa2 3091 0000 lds r19,(MittelIntegralNick)+14434 2aa6 4091 0000 lds r20,(MittelIntegralNick)+24435 2aaa 5091 0000 lds r21,(MittelIntegralNick)+34436 2aae 28A7 std Y+40,r184437 2ab0 39A7 std Y+41,r194438 2ab2 4AA7 std Y+42,r204439 2ab4 5BA7 std Y+43,r214440 2ab6 2090 0000 lds r2,MittelIntegralRoll4441 2aba 3090 0000 lds r3,(MittelIntegralRoll)+14442 2abe 4090 0000 lds r4,(MittelIntegralRoll)+24443 2ac2 5090 0000 lds r5,(MittelIntegralRoll)+34444 .L909:4445 2ac6 3091 0000 lds r19,IntegralFaktor4446 2aca 3DA3 std Y+37,r194447 2acc 3323 tst r194448 2ace 01F4 brne .L9114449 2ad0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4450 2ad4 1092 0000 sts LageKorrekturRoll,__zero_reg__4451 2ad8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4452 2adc 1092 0000 sts LageKorrekturNick,__zero_reg__4453 .L911:4454 2ae0 48A5 ldd r20,Y+404455 2ae2 59A5 ldd r21,Y+414456 2ae4 6AA5 ldd r22,Y+424457 2ae6 7BA5 ldd r23,Y+434458 2ae8 4093 0000 sts MittelIntegralNick_Alt.3105,r204459 2aec 5093 0000 sts (MittelIntegralNick_Alt.3105)+1,r214460 2af0 6093 0000 sts (MittelIntegralNick_Alt.3105)+2,r224461 2af4 7093 0000 sts (MittelIntegralNick_Alt.3105)+3,r234462 2af8 2092 0000 sts MittelIntegralRoll_Alt.3106,r24463 2afc 3092 0000 sts (MittelIntegralRoll_Alt.3106)+1,r34464 2b00 4092 0000 sts (MittelIntegralRoll_Alt.3106)+2,r44465 2b04 5092 0000 sts (MittelIntegralRoll_Alt.3106)+3,r54466 2b08 1092 0000 sts IntegralAccNick,__zero_reg__4467 2b0c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__4468 2b10 1092 0000 sts (IntegralAccNick)+2,__zero_reg__4469 2b14 1092 0000 sts (IntegralAccNick)+3,__zero_reg__4470 2b18 1092 0000 sts IntegralAccRoll,__zero_reg__4471 2b1c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__4472 2b20 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__4473 2b24 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__4474 2b28 1092 0000 sts IntegralAccZ,__zero_reg__4475 2b2c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__4476 2b30 1092 0000 sts (IntegralAccZ)+2,__zero_reg__4477 2b34 1092 0000 sts (IntegralAccZ)+3,__zero_reg__4478 2b38 1092 0000 sts MittelIntegralNick,__zero_reg__4479 2b3c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__4480 2b40 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__4481 2b44 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__4482 2b48 1092 0000 sts MittelIntegralRoll,__zero_reg__4483 2b4c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__4484 2b50 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__4485 2b54 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__4486 2b58 1092 0000 sts MittelIntegralNick2,__zero_reg__4487 2b5c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__4488 2b60 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__4489 2b64 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__4490 2b68 1092 0000 sts MittelIntegralRoll2,__zero_reg__4491 2b6c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__4492 2b70 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__4493 2b74 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__4494 2b78 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__4495 2b7c 1092 0000 sts ZaehlMessungen,__zero_reg__4496 2b80 E090 0000 lds r14,StickGier4497 2b84 F090 0000 lds r15,(StickGier)+14498 2b88 6701 movw r12,r144499 2b8a F7FE sbrs r15,74500 2b8c 00C0 rjmp .+44501 2b8e 0C94 0000 jmp .L10724502 .L913:4503 2b92 70E1 ldi r23,lo8(16)4504 2b94 C716 cp r12,r234505 2b96 D104 cpc r13,__zero_reg__4506 2b98 04F0 brlt .L9144507 2b9a 88EE ldi r24,lo8(1000)4508 2b9c 93E0 ldi r25,hi8(1000)4509 2b9e 9093 0000 sts (KompassSignalSchlecht)+1,r254510 2ba2 8093 0000 sts KompassSignalSchlecht,r244511 2ba6 8A85 ldd r24,Y+104512 2ba8 84FD sbrc r24,44513 2baa 00C0 rjmp .L9144514 2bac 81E0 ldi r24,lo8(1)4515 2bae 8093 0000 sts NeueKompassRichtungMerken.3089,r244516 .L914:4517 2bb2 0091 0000 lds r16,EE_Parameter+174518 2bb6 B701 movw r22,r144519 2bb8 8827 clr r244520 2bba 77FD sbrc r23,74521 2bbc 8095 com r244522 2bbe 982F mov r25,r244523 2bc0 202F mov r18,r164524 2bc2 30E0 ldi r19,lo8(0)4525 2bc4 40E0 ldi r20,lo8(0)4526 2bc6 50E0 ldi r21,hi8(0)4527 2bc8 0E94 0000 call __mulsi34528 2bcc 9601 movw r18,r124529 2bce 4427 clr r204530 2bd0 37FD sbrc r19,74531 2bd2 4095 com r204532 2bd4 542F mov r21,r204533 2bd6 0E94 0000 call __mulsi34534 2bda 20E0 ldi r18,lo8(512)4535 2bdc 32E0 ldi r19,hi8(512)4536 2bde 40E0 ldi r20,hlo8(512)4537 2be0 50E0 ldi r21,hhi8(512)4538 2be2 0E94 0000 call __divmodsi44539 2be6 10E0 ldi r17,lo8(0)4540 2be8 0E9D mul r16,r144541 2bea B001 movw r22,r04542 2bec 0F9D mul r16,r154543 2bee 700D add r23,r04544 2bf0 1E9D mul r17,r144545 2bf2 700D add r23,r04546 2bf4 1124 clr r14547 2bf6 77FF sbrs r23,74548 2bf8 00C0 rjmp .+44549 2bfa 0C94 0000 jmp .L10734550 .L917:4551 2bfe 7595 asr r234552 2c00 6795 ror r224553 2c02 7595 asr r234554 2c04 6795 ror r224555 2c06 260F add r18,r224556 2c08 371F adc r19,r234557 2c0a A901 movw r20,r184558 2c0c 6627 clr r224559 2c0e 57FD sbrc r21,74560 2c10 6095 com r224561 2c12 762F mov r23,r224562 2c14 488F std Y+24,r204563 2c16 598F std Y+25,r214564 2c18 6A8F std Y+26,r224565 2c1a 7B8F std Y+27,r234566 2c1c 4093 0000 sts sollGier.3070,r204567 2c20 5093 0000 sts (sollGier.3070)+1,r214568 2c24 6093 0000 sts (sollGier.3070)+2,r224569 2c28 7093 0000 sts (sollGier.3070)+3,r234570 2c2c 8091 0000 lds r24,Mess_Integral_Gier4571 2c30 9091 0000 lds r25,(Mess_Integral_Gier)+14572 2c34 A091 0000 lds r26,(Mess_Integral_Gier)+24573 2c38 B091 0000 lds r27,(Mess_Integral_Gier)+34574 2c3c 841B sub r24,r204575 2c3e 950B sbc r25,r214576 2c40 A60B sbc r26,r224577 2c42 B70B sbc r27,r234578 2c44 8093 0000 sts Mess_Integral_Gier,r244579 2c48 9093 0000 sts (Mess_Integral_Gier)+1,r254580 2c4c A093 0000 sts (Mess_Integral_Gier)+2,r264581 2c50 B093 0000 sts (Mess_Integral_Gier)+3,r274582 2c54 8135 cpi r24,lo8(50001)4583 2c56 53EC ldi r21,hi8(50001)4584 2c58 9507 cpc r25,r214585 2c5a 50E0 ldi r21,hlo8(50001)4586 2c5c A507 cpc r26,r214587 2c5e 50E0 ldi r21,hhi8(50001)4588 2c60 B507 cpc r27,r214589 2c62 04F4 brge .+44590 2c64 0C94 0000 jmp .L9184591 2c68 80E5 ldi r24,lo8(50000)4592 2c6a 93EC ldi r25,hi8(50000)4593 2c6c A0E0 ldi r26,hlo8(50000)4594 2c6e B0E0 ldi r27,hhi8(50000)4595 2c70 8093 0000 sts Mess_Integral_Gier,r244596 2c74 9093 0000 sts (Mess_Integral_Gier)+1,r254597 2c78 A093 0000 sts (Mess_Integral_Gier)+2,r264598 2c7c B093 0000 sts (Mess_Integral_Gier)+3,r274599 .L920:4600 2c80 2090 0000 lds r2,KompassValue4601 2c84 3090 0000 lds r3,(KompassValue)+14602 2c88 2114 cp r2,__zero_reg__4603 2c8a 3104 cpc r3,__zero_reg__4604 2c8c 01F4 brne .+24605 2c8e 00C0 rjmp .L10624606 2c90 7A85 ldd r23,Y+104607 2c92 73FF sbrs r23,34608 2c94 00C0 rjmp .L10624609 2c96 6981 ldd r22,Y+14610 2c98 7A81 ldd r23,Y+24611 2c9a 8B81 ldd r24,Y+34612 2c9c 9C81 ldd r25,Y+44613 2c9e 20E0 ldi r18,lo8(512)4614 2ca0 32E0 ldi r19,hi8(512)4615 2ca2 40E0 ldi r20,hlo8(512)4616 2ca4 50E0 ldi r21,hhi8(512)4617 2ca6 0E94 0000 call __divmodsi44618 2caa 8901 movw r16,r184619 2cac 37FF sbrs r19,74620 2cae 00C0 rjmp .+44621 2cb0 0C94 0000 jmp .L10744622 .L925:4623 2cb4 6D81 ldd r22,Y+54624 2cb6 7E81 ldd r23,Y+64625 2cb8 8F81 ldd r24,Y+74626 2cba 9885 ldd r25,Y+84627 2cbc 20E0 ldi r18,lo8(512)4628 2cbe 32E0 ldi r19,hi8(512)4629 2cc0 40E0 ldi r20,hlo8(512)4630 2cc2 50E0 ldi r21,hhi8(512)4631 2cc4 0E94 0000 call __divmodsi44632 2cc8 6901 movw r12,r184633 2cca 37FF sbrs r19,74634 2ccc 00C0 rjmp .+44635 2cce 0C94 0000 jmp .L10754636 .L926:4637 2cd2 C016 cp r12,r164638 2cd4 D106 cpc r13,r174639 2cd6 04F4 brge .+44640 2cd8 0C94 0000 jmp .L10764641 .L927:4642 2cdc 4090 0000 lds r4,ErsatzKompass4643 2ce0 5090 0000 lds r5,(ErsatzKompass)+14644 2ce4 6090 0000 lds r6,(ErsatzKompass)+24645 2ce8 7090 0000 lds r7,(ErsatzKompass)+34646 2cec 8091 0000 lds r24,GIER_GRAD_FAKTOR4647 2cf0 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+14648 2cf4 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+24649 2cf8 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+34650 2cfc 8C8B std Y+20,r244651 2cfe 9D8B std Y+21,r254652 2d00 AE8B std Y+22,r264653 2d02 BF8B std Y+23,r274654 2d04 8090 0000 lds r8,MesswertGier4655 2d08 9090 0000 lds r9,(MesswertGier)+14656 2d0c C401 movw r24,r84657 2d0e 97FE sbrs r9,74658 2d10 00C0 rjmp .+44659 2d12 0C94 0000 jmp .L10774660 .L929:4661 2d16 8138 cpi r24,1294662 2d18 9105 cpc r25,__zero_reg__4663 2d1a 04F0 brlt .+44664 2d1c 0C94 0000 jmp .L10784665 2d20 ACE1 ldi r26,lo8(540)4666 2d22 B2E0 ldi r27,hi8(540)4667 2d24 2A0E add r2,r264668 2d26 3B1E adc r3,r274669 2d28 7101 movw r14,r24670 2d2a 0027 clr r164671 2d2c F7FC sbrc r15,74672 2d2e 0095 com r164673 2d30 102F mov r17,r164674 2d32 E4EE ldi r30,lo8(-540)4675 2d34 FDEF ldi r31,hi8(-540)4676 2d36 2E0E add r2,r304677 2d38 3F1E adc r3,r314678 2d3a C301 movw r24,r64679 2d3c B201 movw r22,r44680 2d3e 2C89 ldd r18,Y+204681 2d40 3D89 ldd r19,Y+214682 2d42 4E89 ldd r20,Y+224683 2d44 5F89 ldd r21,Y+234684 2d46 0E94 0000 call __divmodsi44685 2d4a E21A sub r14,r184686 2d4c F30A sbc r15,r194687 2d4e 040B sbc r16,r204688 2d50 150B sbc r17,r214689 2d52 C801 movw r24,r164690 2d54 B701 movw r22,r144691 2d56 28E6 ldi r18,lo8(360)4692 2d58 31E0 ldi r19,hi8(360)4693 2d5a 40E0 ldi r20,hlo8(360)4694 2d5c 50E0 ldi r21,hhi8(360)4695 2d5e 0E94 0000 call __divmodsi44696 2d62 645B subi r22,lo8(-(-180))4697 2d64 7040 sbci r23,hi8(-(-180))4698 2d66 8B01 movw r16,r224699 2d68 000F lsl r164700 2d6a 111F rol r174701 2d6c 000F lsl r164702 2d6e 111F rol r174703 2d70 000F lsl r164704 2d72 111F rol r174705 .L931:4706 2d74 2091 0000 lds r18,NeueKompassRichtungMerken.30894707 2d78 E090 0000 lds r14,KompassSignalSchlecht4708 2d7c F090 0000 lds r15,(KompassSignalSchlecht)+14709 2d80 E114 cp r14,__zero_reg__4710 2d82 F104 cpc r15,__zero_reg__4711 2d84 01F4 brne .L9324712 2d86 F9E1 ldi r31,lo8(25)4713 2d88 CF16 cp r12,r314714 2d8a D104 cpc r13,__zero_reg__4715 2d8c 04F4 brge .L9324716 2d8e 8091 0000 lds r24,GierGyroFehler4717 2d92 9091 0000 lds r25,(GierGyroFehler)+14718 2d96 860F add r24,r224719 2d98 971F adc r25,r234720 2d9a 9093 0000 sts (GierGyroFehler)+1,r254721 2d9e 8093 0000 sts GierGyroFehler,r244722 2da2 2223 tst r184723 2da4 01F0 breq .+44724 2da6 0C94 0000 jmp .L10794725 .L932:4726 2daa B601 movw r22,r124727 2dac D7FE sbrs r13,74728 2dae 00C0 rjmp .+44729 2db0 0C94 0000 jmp .L10804730 .L936:4731 2db4 7595 asr r234732 2db6 6795 ror r224733 2db8 7595 asr r234734 2dba 6795 ror r224735 2dbc 7595 asr r234736 2dbe 6795 ror r224737 2dc0 6F5F subi r22,lo8(-(1))4738 2dc2 7F4F sbci r23,hi8(-(1))4739 2dc4 C801 movw r24,r164740 2dc6 0E94 0000 call __divmodhi44741 2dca 9B01 movw r18,r224742 2dcc A901 movw r20,r184743 2dce 6627 clr r224744 2dd0 57FD sbrc r21,74745 2dd2 6095 com r224746 2dd4 762F mov r23,r224747 2dd6 440D add r20,r44748 2dd8 551D adc r21,r54749 2dda 661D adc r22,r64750 2ddc 771D adc r23,r74751 2dde 4093 0000 sts ErsatzKompass,r204752 2de2 5093 0000 sts (ErsatzKompass)+1,r214753 2de6 6093 0000 sts (ErsatzKompass)+2,r224754 2dea 7093 0000 sts (ErsatzKompass)+3,r234755 2dee 8091 0000 lds r24,Parameter_KompassWirkung4756 2df2 A82E mov r10,r244757 2df4 BB24 clr r114758 2df6 CA9C mul r12,r104759 2df8 9001 movw r18,r04760 2dfa CB9C mul r12,r114761 2dfc 300D add r19,r04762 2dfe DA9C mul r13,r104763 2e00 300D add r19,r04764 2e02 1124 clr r14765 2e04 37FF sbrs r19,74766 2e06 00C0 rjmp .+44767 2e08 0C94 0000 jmp .L10814768 .L937:4769 2e0c 3595 asr r194770 2e0e 2795 ror r184771 2e10 3595 asr r194772 2e12 2795 ror r184773 2e14 3595 asr r194774 2e16 2795 ror r184775 2e18 3595 asr r194776 2e1a 2795 ror r184777 2e1c 3595 asr r194778 2e1e 2795 ror r184779 2e20 6501 movw r12,r104780 2e22 C21A sub r12,r184781 2e24 D30A sbc r13,r194782 2e26 D7FE sbrs r13,74783 2e28 00C0 rjmp .+44784 2e2a 0C94 0000 jmp .L9384785 2e2e E114 cp r14,__zero_reg__4786 2e30 F104 cpc r15,__zero_reg__4787 2e32 01F0 breq .+44788 2e34 0C94 0000 jmp .L9404789 2e38 6090 0000 lds r6,MaxStickRoll4790 2e3c 7090 0000 lds r7,(MaxStickRoll)+14791 2e40 8091 0000 lds r24,MaxStickNick4792 2e44 9091 0000 lds r25,(MaxStickNick)+14793 2e48 680E add r6,r244794 2e4a 791E adc r7,r254795 2e4c 77FE sbrs r7,74796 2e4e 00C0 rjmp .+44797 2e50 0C94 0000 jmp .L10824798 .L942:4799 2e54 7594 asr r74800 2e56 6794 ror r64801 2e58 7594 asr r74802 2e5a 6794 ror r64803 2e5c 7594 asr r74804 2e5e 6794 ror r64805 2e60 A0E4 ldi r26,lo8(64)4806 2e62 B0E0 ldi r27,hi8(64)4807 2e64 6A0E add r6,r264808 2e66 7B1E adc r7,r274809 2e68 8091 0000 lds r24,KompassStartwert4810 2e6c 9091 0000 lds r25,(KompassStartwert)+14811 2e70 AA27 clr r264812 2e72 97FD sbrc r25,74813 2e74 A095 com r264814 2e76 BA2F mov r27,r264815 2e78 ECE1 ldi r30,lo8(540)4816 2e7a EE2E mov r14,r304817 2e7c E2E0 ldi r30,hi8(540)4818 2e7e FE2E mov r15,r304819 2e80 012D mov r16,__zero_reg__4820 2e82 112D mov r17,__zero_reg__4821 2e84 E81A sub r14,r244822 2e86 F90A sbc r15,r254823 2e88 0A0B sbc r16,r264824 2e8a 1B0B sbc r17,r274825 2e8c CB01 movw r24,r224826 2e8e BA01 movw r22,r204827 2e90 2C89 ldd r18,Y+204828 2e92 3D89 ldd r19,Y+214829 2e94 4E89 ldd r20,Y+224830 2e96 5F89 ldd r21,Y+234831 2e98 0E94 0000 call __divmodsi44832 2e9c E20E add r14,r184833 2e9e F31E adc r15,r194834 2ea0 041F adc r16,r204835 2ea2 151F adc r17,r214836 2ea4 C801 movw r24,r164837 2ea6 B701 movw r22,r144838 2ea8 28E6 ldi r18,lo8(360)4839 2eaa 31E0 ldi r19,hi8(360)4840 2eac 40E0 ldi r20,hlo8(360)4841 2eae 50E0 ldi r21,hhi8(360)4842 2eb0 0E94 0000 call __divmodsi44843 2eb4 645B subi r22,lo8(-(-180))4844 2eb6 7040 sbci r23,hi8(-(-180))4845 2eb8 6C9D mul r22,r124846 2eba C001 movw r24,r04847 2ebc 6D9D mul r22,r134848 2ebe 900D add r25,r04849 2ec0 7C9D mul r23,r124850 2ec2 900D add r25,r04851 2ec4 1124 clr r14852 2ec6 B301 movw r22,r64853 2ec8 0E94 0000 call __divmodhi44854 2ecc 9501 movw r18,r104855 2ece 220F lsl r184856 2ed0 331F rol r194857 2ed2 2A0D add r18,r104858 2ed4 3B1D adc r19,r114859 2ed6 2617 cp r18,r224860 2ed8 3707 cpc r19,r234861 2eda 04F4 brge .+44862 2edc 0C94 0000 jmp .L9434863 2ee0 3095 com r194864 2ee2 2195 neg r184865 2ee4 3F4F sbci r19,lo8(-1)4866 2ee6 6217 cp r22,r184867 2ee8 7307 cpc r23,r194868 2eea 04F4 brge .L9454869 2eec B901 movw r22,r184870 .L945:4871 2eee 9B01 movw r18,r224872 2ef0 4427 clr r204873 2ef2 37FD sbrc r19,74874 2ef4 4095 com r204875 2ef6 542F mov r21,r204876 2ef8 8091 0000 lds r24,Mess_Integral_Gier4877 2efc 9091 0000 lds r25,(Mess_Integral_Gier)+14878 2f00 A091 0000 lds r26,(Mess_Integral_Gier)+24879 2f04 B091 0000 lds r27,(Mess_Integral_Gier)+34880 2f08 820F add r24,r184881 2f0a 931F adc r25,r194882 2f0c A41F adc r26,r204883 2f0e B51F adc r27,r214884 2f10 8093 0000 sts Mess_Integral_Gier,r244885 2f14 9093 0000 sts (Mess_Integral_Gier)+1,r254886 2f18 A093 0000 sts (Mess_Integral_Gier)+2,r264887 2f1c B093 0000 sts (Mess_Integral_Gier)+3,r274888 2f20 00C0 rjmp .L9224889 .L660:4890 2f22 8091 0000 lds r24,SenderOkay4891 2f26 8D38 cpi r24,lo8(-115)4892 2f28 00F4 brsh .+24893 2f2a 00C0 rjmp .L6744894 2f2c 1092 0000 sts Notlandung,__zero_reg__4895 2f30 8091 0000 lds r24,EE_Parameter+274896 2f34 22E3 ldi r18,lo8(50)4897 2f36 829F mul r24,r184898 2f38 C001 movw r24,r04899 2f3a 1124 clr r14900 2f3c 9093 0000 sts (RcLostTimer.3075)+1,r254901 2f40 8093 0000 sts RcLostTimer.3075,r244902 2f44 E889 ldd r30,Y+164903 2f46 F989 ldd r31,Y+174904 2f48 B997 sbiw r30,414905 2f4a 04F0 brlt .L6764906 2f4c 8091 0000 lds r24,MotorenEin4907 2f50 8823 tst r244908 2f52 01F0 breq .L6764909 2f54 8091 0000 lds r24,modell_fliegt4910 2f58 9091 0000 lds r25,(modell_fliegt)+14911 2f5c FFEF ldi r31,hi8(-1)4912 2f5e 8F3F cpi r24,lo8(-1)4913 2f60 9F07 cpc r25,r314914 2f62 01F0 breq .L6794915 2f64 0196 adiw r24,14916 2f66 9093 0000 sts (modell_fliegt)+1,r254917 2f6a 8093 0000 sts modell_fliegt,r244918 .L676:4919 2f6e 8091 0000 lds r24,modell_fliegt4920 2f72 9091 0000 lds r25,(modell_fliegt)+14921 2f76 8F3F cpi r24,2554922 2f78 9105 cpc r25,__zero_reg__4923 2f7a 01F0 breq .+24924 2f7c 00F4 brsh .+44925 2f7e 0C94 0000 jmp .L10834926 .L679:4927 2f82 8091 0000 lds r24,MikroKopterFlags4928 2f86 8260 ori r24,lo8(2)4929 2f88 8093 0000 sts MikroKopterFlags,r244930 .L682:4931 2f8c 8091 0000 lds r24,EE_Parameter+24932 2f90 A82F mov r26,r244933 2f92 B0E0 ldi r27,lo8(0)4934 2f94 AA0F lsl r264935 2f96 BB1F rol r274936 2f98 FD01 movw r30,r264937 2f9a E050 subi r30,lo8(-(PPM_in))4938 2f9c F040 sbci r31,hi8(-(PPM_in))4939 2f9e 8081 ld r24,Z4940 2fa0 9181 ldd r25,Z+14941 2fa2 8135 cpi r24,814942 2fa4 9105 cpc r25,__zero_reg__4943 2fa6 04F4 brge .+24944 2fa8 00C0 rjmp .L6844945 2faa 8091 0000 lds r24,MotorenEin4946 2fae 8823 tst r244947 2fb0 01F0 breq .+24948 2fb2 00C0 rjmp .L6844949 2fb4 8091 0000 lds r24,EE_Parameter+34950 2fb8 E82F mov r30,r244951 2fba F0E0 ldi r31,lo8(0)4952 2fbc EE0F lsl r304953 2fbe FF1F rol r314954 2fc0 E050 subi r30,lo8(-(PPM_in))4955 2fc2 F040 sbci r31,hi8(-(PPM_in))4956 2fc4 8081 ld r24,Z4957 2fc6 9181 ldd r25,Z+14958 2fc8 8C34 cpi r24,764959 2fca 9105 cpc r25,__zero_reg__4960 2fcc 04F4 brge .+44961 2fce 0C94 0000 jmp .L6874962 2fd2 8091 0000 lds r24,delay_neutral.30764963 2fd6 8F5F subi r24,lo8(-(1))4964 2fd8 8093 0000 sts delay_neutral.3076,r244965 2fdc 893C cpi r24,lo8(-55)4966 2fde 00F4 brsh .+24967 2fe0 00C0 rjmp .L6844968 2fe2 4C30 cpi r20,lo8(12)4969 2fe4 00F0 brlo .+44970 2fe6 0C94 0000 jmp .L6904971 2fea 2998 cbi 37-0x20,14972 .L692:4973 2fec 1092 0000 sts MotorenEin,__zero_reg__4974 2ff0 1092 0000 sts delay_neutral.3076,__zero_reg__4975 2ff4 1092 0000 sts (modell_fliegt)+1,__zero_reg__4976 2ff8 1092 0000 sts modell_fliegt,__zero_reg__4977 2ffc 8091 0000 lds r24,EE_Parameter4978 3000 282F mov r18,r244979 3002 30E0 ldi r19,lo8(0)4980 3004 220F lsl r184981 3006 331F rol r194982 3008 F901 movw r30,r184983 300a E050 subi r30,lo8(-(PPM_in))4984 300c F040 sbci r31,hi8(-(PPM_in))4985 300e 8081 ld r24,Z4986 3010 9181 ldd r25,Z+14987 3012 8734 cpi r24,714988 3014 9105 cpc r25,__zero_reg__4989 3016 04F4 brge .+44990 3018 0C94 0000 jmp .L6934991 301c 8091 0000 lds r24,EE_Parameter+14992 3020 A82F mov r26,r244993 3022 B0E0 ldi r27,lo8(0)4994 3024 AA0F lsl r264995 3026 BB1F rol r274996 .L695:4997 3028 AD01 movw r20,r264998 302a 4050 subi r20,lo8(-(PPM_in))4999 302c 5040 sbci r21,hi8(-(PPM_in))5000 302e FA01 movw r30,r205001 3030 8081 ld r24,Z5002 3032 9181 ldd r25,Z+15003 3034 8734 cpi r24,715004 3036 9105 cpc r25,__zero_reg__5005 3038 04F0 brlt .L6985006 303a F901 movw r30,r185007 303c E050 subi r30,lo8(-(PPM_in))5008 303e F040 sbci r31,hi8(-(PPM_in))5009 3040 8081 ld r24,Z5010 3042 9181 ldd r25,Z+15011 .L698:5012 3044 FA01 movw r30,r205013 3046 8081 ld r24,Z5014 3048 9181 ldd r25,Z+15015 304a 8734 cpi r24,715016 304c 9105 cpc r25,__zero_reg__5017 304e 04F4 brge .+45018 3050 0C94 0000 jmp .L7005019 3054 F901 movw r30,r185020 3056 E050 subi r30,lo8(-(PPM_in))5021 3058 F040 sbci r31,hi8(-(PPM_in))5022 305a 8081 ld r24,Z5023 305c 9181 ldd r25,Z+15024 305e 8734 cpi r24,715025 3060 9105 cpc r25,__zero_reg__5026 3062 04F4 brge .+45027 3064 0C94 0000 jmp .L7005028 3068 42E0 ldi r20,lo8(2)5029 .L703:5030 306a FD01 movw r30,r265031 306c E050 subi r30,lo8(-(PPM_in))5032 306e F040 sbci r31,hi8(-(PPM_in))5033 3070 8081 ld r24,Z5034 3072 9181 ldd r25,Z+15035 3074 8634 cpi r24,705036 3076 9105 cpc r25,__zero_reg__5037 3078 04F4 brge .L7045038 307a F901 movw r30,r185039 307c E050 subi r30,lo8(-(PPM_in))5040 307e F040 sbci r31,hi8(-(PPM_in))5041 3080 8081 ld r24,Z5042 3082 9181 ldd r25,Z+15043 3084 8734 cpi r24,715044 3086 9105 cpc r25,__zero_reg__5045 3088 04F0 brlt .L7045046 308a 43E0 ldi r20,lo8(3)5047 .L704:5048 308c FD01 movw r30,r265049 308e E050 subi r30,lo8(-(PPM_in))5050 3090 F040 sbci r31,hi8(-(PPM_in))5051 3092 8081 ld r24,Z5052 3094 9181 ldd r25,Z+15053 3096 8A5B subi r24,lo8(-70)5054 3098 9F4F sbci r25,hi8(-70)5055 309a 04F4 brge .L7075056 309c F901 movw r30,r185057 309e E050 subi r30,lo8(-(PPM_in))5058 30a0 F040 sbci r31,hi8(-(PPM_in))5059 30a2 8081 ld r24,Z5060 30a4 9181 ldd r25,Z+15061 30a6 8734 cpi r24,715062 30a8 9105 cpc r25,__zero_reg__5063 30aa 04F0 brlt .L7075064 30ac 44E0 ldi r20,lo8(4)5065 .L707:5066 30ae A050 subi r26,lo8(-(PPM_in))5067 30b0 B040 sbci r27,hi8(-(PPM_in))5068 30b2 8D91 ld r24,X+5069 30b4 9C91 ld r25,X5070 30b6 8A5B subi r24,lo8(-70)5071 30b8 9F4F sbci r25,hi8(-70)5072 30ba 04F4 brge .L7105073 30bc 2050 subi r18,lo8(-(PPM_in))5074 30be 3040 sbci r19,hi8(-(PPM_in))5075 30c0 D901 movw r26,r185076 30c2 8D91 ld r24,X+5077 30c4 9C91 ld r25,X5078 30c6 8634 cpi r24,705079 30c8 9105 cpc r25,__zero_reg__5080 30ca 04F4 brge .L7105081 30cc 45E0 ldi r20,lo8(5)5082 .L710:5083 30ce 842F mov r24,r205084 30d0 0E94 0000 call SetActiveParamSetNumber5085 30d4 8091 0000 lds r24,EE_Parameter+15086 30d8 A82F mov r26,r245087 30da B0E0 ldi r27,lo8(0)5088 30dc AA0F lsl r265089 30de BB1F rol r275090 .L696:5091 30e0 A050 subi r26,lo8(-(PPM_in))5092 30e2 B040 sbci r27,hi8(-(PPM_in))5093 30e4 8D91 ld r24,X+5094 30e6 9C91 ld r25,X5095 30e8 97FF sbrs r25,75096 30ea 00C0 rjmp .+45097 30ec 0C94 0000 jmp .L10845098 .L714:5099 30f0 4E97 sbiw r24,305100 30f2 04F0 brlt .+45101 30f4 0C94 0000 jmp .L7135102 30f8 E091 0000 lds r30,EE_Parameter5103 30fc F0E0 ldi r31,lo8(0)5104 30fe EE0F lsl r305105 3100 FF1F rol r315106 3102 E050 subi r30,lo8(-(PPM_in))5107 3104 F040 sbci r31,hi8(-(PPM_in))5108 3106 8081 ld r24,Z5109 3108 9181 ldd r25,Z+15110 310a 8A5B subi r24,lo8(-70)5111 310c 9F4F sbci r25,hi8(-70)5112 310e 04F0 brlt .+45113 3110 0C94 0000 jmp .L7135114 3114 81E0 ldi r24,lo8(1)5115 3116 8093 0000 sts WinkelOut+6,r245116 311a 88EE ldi r24,lo8(1000)5117 311c 93E0 ldi r25,hi8(1000)5118 311e 9093 0000 sts (beeptime)+1,r255119 3122 8093 0000 sts beeptime,r245120 3126 8091 0000 lds r24,EE_Parameter+25121 312a A82F mov r26,r245122 312c B0E0 ldi r27,lo8(0)5123 312e AA0F lsl r265124 3130 BB1F rol r275125 .L684:5126 3132 A050 subi r26,lo8(-(PPM_in))5127 3134 B040 sbci r27,hi8(-(PPM_in))5128 3136 8D91 ld r24,X+5129 3138 9C91 ld r25,X5130 313a 8B5A subi r24,lo8(-85)5131 313c 9F4F sbci r25,hi8(-85)5132 313e 04F0 brlt .+25133 3140 00C0 rjmp .L6745134 3142 8091 0000 lds r24,EE_Parameter+35135 3146 C82E mov r12,r245136 3148 DD24 clr r135137 314a CC0C lsl r125138 314c DD1C rol r135139 314e F601 movw r30,r125140 3150 E050 subi r30,lo8(-(PPM_in))5141 3152 F040 sbci r31,hi8(-(PPM_in))5142 3154 8081 ld r24,Z5143 3156 9181 ldd r25,Z+15144 3158 855B subi r24,lo8(-75)5145 315a 9F4F sbci r25,hi8(-75)5146 315c 04F0 brlt .+45147 315e 0C94 0000 jmp .L7315148 3162 8091 0000 lds r24,delay_einschalten.30775149 3166 8F5F subi r24,lo8(-(1))5150 3168 8093 0000 sts delay_einschalten.3077,r245151 316c 893C cpi r24,lo8(-55)5152 316e 00F0 brlo .+45153 3170 0C94 0000 jmp .L10855154 .L733:5155 3174 60E0 ldi r22,lo8(PPM_in)5156 3176 70E0 ldi r23,hi8(PPM_in)5157 3178 C60E add r12,r225158 317a D71E adc r13,r235159 317c D601 movw r26,r125160 317e 8D91 ld r24,X+5161 3180 9C91 ld r25,X5162 3182 8C34 cpi r24,765163 3184 9105 cpc r25,__zero_reg__5164 3186 04F4 brge .+45165 3188 0C94 0000 jmp .L7355166 318c 8091 0000 lds r24,delay_ausschalten.30785167 3190 8F5F subi r24,lo8(-(1))5168 3192 8093 0000 sts delay_ausschalten.3078,r245169 3196 893C cpi r24,lo8(-55)5170 3198 00F4 brsh .+25171 319a 00C0 rjmp .L6745172 319c 1092 0000 sts MotorenEin,__zero_reg__5173 31a0 88EC ldi r24,lo8(-56)5174 31a2 8093 0000 sts delay_ausschalten.3078,r245175 31a6 1092 0000 sts (modell_fliegt)+1,__zero_reg__5176 31aa 1092 0000 sts modell_fliegt,__zero_reg__5177 31ae 00C0 rjmp .L6745178 .L738:5179 31b0 0E94 0000 call ParameterZuordnung5180 31b4 8091 0000 lds r24,EE_Parameter5181 31b8 A82E mov r10,r245182 31ba BB24 clr r115183 31bc AA0C lsl r105184 31be BB1C rol r115185 31c0 F501 movw r30,r105186 31c2 E050 subi r30,lo8(-(PPM_in))5187 31c4 F040 sbci r31,hi8(-(PPM_in))5188 31c6 2081 ld r18,Z5189 31c8 3181 ldd r19,Z+15190 31ca 8091 0000 lds r24,EE_Parameter+155191 31ce 882E mov r8,r245192 31d0 9924 clr r95193 31d2 F501 movw r30,r105194 31d4 E050 subi r30,lo8(-(PPM_diff))5195 31d6 F040 sbci r31,hi8(-(PPM_diff))5196 31d8 0190 ld __tmp_reg__,Z+5197 31da F081 ld r31,Z5198 31dc E02D mov r30,__tmp_reg__5199 31de 8091 0000 lds r24,EE_Parameter+165200 31e2 682F mov r22,r245201 31e4 70E0 ldi r23,lo8(0)5202 31e6 289D mul r18,r85203 31e8 A001 movw r20,r05204 31ea 299D mul r18,r95205 31ec 500D add r21,r05206 31ee 389D mul r19,r85207 31f0 500D add r21,r05208 31f2 1124 clr r15209 31f4 2091 0000 lds r18,stick_nick.30965210 31f8 3091 0000 lds r19,(stick_nick.3096)+15211 31fc C901 movw r24,r185212 31fe 880F lsl r245213 3200 991F rol r255214 3202 820F add r24,r185215 3204 931F adc r25,r195216 3206 480F add r20,r245217 3208 591F adc r21,r255218 320a 57FF sbrs r21,75219 320c 00C0 rjmp .+45220 320e 0C94 0000 jmp .L10865221 .L741:5222 3212 9A01 movw r18,r205223 3214 3595 asr r195224 3216 2795 ror r185225 3218 3595 asr r195226 321a 2795 ror r185227 321c E69F mul r30,r225228 321e C001 movw r24,r05229 3220 E79F mul r30,r235230 3222 900D add r25,r05231 3224 F69F mul r31,r225232 3226 900D add r25,r05233 3228 1124 clr r15234 322a 280F add r18,r245235 322c 391F adc r19,r255236 322e 3093 0000 sts (stick_nick.3096)+1,r195237 3232 2093 0000 sts stick_nick.3096,r185238 3236 8091 0000 lds r24,GPS_Nick25239 323a 9091 0000 lds r25,(GPS_Nick2)+15240 323e 4091 0000 lds r20,GPS_Nick5241 3242 5091 0000 lds r21,(GPS_Nick)+15242 3246 6901 movw r12,r185243 3248 C81A sub r12,r245244 324a D90A sbc r13,r255245 324c C41A sub r12,r205246 324e D50A sbc r13,r215247 3250 D092 0000 sts (StickNick)+1,r135248 3254 C092 0000 sts StickNick,r125249 3258 8091 0000 lds r24,EE_Parameter+15250 325c E82E mov r14,r245251 325e FF24 clr r155252 3260 EE0C lsl r145253 3262 FF1C rol r155254 3264 F701 movw r30,r145255 3266 E050 subi r30,lo8(-(PPM_in))5256 3268 F040 sbci r31,hi8(-(PPM_in))5257 326a 8081 ld r24,Z5258 326c 9181 ldd r25,Z+15259 326e F701 movw r30,r145260 3270 E050 subi r30,lo8(-(PPM_diff))5261 3272 F040 sbci r31,hi8(-(PPM_diff))5262 3274 0190 ld __tmp_reg__,Z+5263 3276 F081 ld r31,Z5264 3278 E02D mov r30,__tmp_reg__5265 327a 889D mul r24,r85266 327c A001 movw r20,r05267 327e 899D mul r24,r95268 3280 500D add r21,r05269 3282 989D mul r25,r85270 3284 500D add r21,r05271 3286 1124 clr r15272 3288 2091 0000 lds r18,stick_roll.30975273 328c 3091 0000 lds r19,(stick_roll.3097)+15274 3290 C901 movw r24,r185275 3292 880F lsl r245276 3294 991F rol r255277 3296 820F add r24,r185278 3298 931F adc r25,r195279 329a 480F add r20,r245280 329c 591F adc r21,r255281 329e 57FF sbrs r21,75282 32a0 00C0 rjmp .+45283 32a2 0C94 0000 jmp .L10875284 .L742:5285 32a6 9A01 movw r18,r205286 32a8 3595 asr r195287 32aa 2795 ror r185288 32ac 3595 asr r195289 32ae 2795 ror r185290 32b0 E69F mul r30,r225291 32b2 C001 movw r24,r05292 32b4 E79F mul r30,r235293 32b6 900D add r25,r05294 32b8 F69F mul r31,r225295 32ba 900D add r25,r05296 32bc 1124 clr r15297 32be 280F add r18,r245298 32c0 391F adc r19,r255299 32c2 3093 0000 sts (stick_roll.3097)+1,r195300 32c6 2093 0000 sts stick_roll.3097,r185301 32ca 8091 0000 lds r24,GPS_Roll25302 32ce 9091 0000 lds r25,(GPS_Roll2)+15303 32d2 4091 0000 lds r20,GPS_Roll5304 32d6 5091 0000 lds r21,(GPS_Roll)+15305 32da 8901 movw r16,r185306 32dc 081B sub r16,r245307 32de 190B sbc r17,r255308 32e0 041B sub r16,r205309 32e2 150B sbc r17,r215310 32e4 1093 0000 sts (StickRoll)+1,r175311 32e8 0093 0000 sts StickRoll,r165312 32ec E091 0000 lds r30,EE_Parameter+35313 32f0 F0E0 ldi r31,lo8(0)5314 32f2 EE0F lsl r305315 32f4 FF1F rol r315316 32f6 E050 subi r30,lo8(-(PPM_in))5317 32f8 F040 sbci r31,hi8(-(PPM_in))5318 32fa 8081 ld r24,Z5319 32fc 9181 ldd r25,Z+15320 32fe 9095 com r255321 3300 8195 neg r245322 3302 9F4F sbci r25,lo8(-1)5323 3304 9093 0000 sts (StickGier)+1,r255324 3308 8093 0000 sts StickGier,r245325 330c 8330 cpi r24,35326 330e 9105 cpc r25,__zero_reg__5327 3310 04F4 brge .+25328 3312 00C0 rjmp .L7435329 3314 0297 sbiw r24,25330 3316 9093 0000 sts (StickGier)+1,r255331 331a 8093 0000 sts StickGier,r245332 .L745:5333 331e E091 0000 lds r30,EE_Parameter+25334 3322 F0E0 ldi r31,lo8(0)5335 3324 EE0F lsl r305336 3326 FF1F rol r315337 3328 E050 subi r30,lo8(-(PPM_in))5338 332a F040 sbci r31,hi8(-(PPM_in))5339 332c 6080 ld r6,Z5340 332e 7180 ldd r7,Z+15341 3330 28E7 ldi r18,lo8(120)5342 3332 30E0 ldi r19,hi8(120)5343 3334 620E add r6,r185344 3336 731E adc r7,r195345 3338 7092 0000 sts (StickGas)+1,r75346 333c 6092 0000 sts StickGas,r65347 3340 6091 0000 lds r22,Parameter_Gyro_P5348 3344 70E0 ldi r23,lo8(0)5349 3346 8827 clr r245350 3348 77FD sbrc r23,75351 334a 8095 com r245352 334c 982F mov r25,r245353 334e 0E94 0000 call __floatsisf5354 3352 20E0 ldi r18,lo8(0x41200000)5355 3354 30E0 ldi r19,hi8(0x41200000)5356 3356 40E2 ldi r20,hlo8(0x41200000)5357 3358 51E4 ldi r21,hhi8(0x41200000)5358 335a 0E94 0000 call __addsf35359 335e 0E94 0000 call __fixunssfsi5360 3362 6093 0000 sts GyroFaktor,r225361 3366 3091 0000 lds r19,Parameter_Gyro_I5362 336a 3093 0000 sts IntegralFaktor,r195363 336e 8091 0000 lds r24,ExternControl+105364 3372 80FF sbrs r24,05365 3374 00C0 rjmp .L7485366 3376 8091 0000 lds r24,Parameter_ExternalControl5367 337a 8138 cpi r24,lo8(-127)5368 337c 00F0 brlo .+45369 337e 0C94 0000 jmp .L10885370 .L748:5371 3382 8091 0000 lds r24,StickGas5372 3386 9091 0000 lds r25,(StickGas)+15373 338a 97FF sbrs r25,75374 338c 00C0 rjmp .+45375 338e 0C94 0000 jmp .L10895376 .L752:5377 3392 B091 0000 lds r27,EE_Parameter+85378 3396 B2FF sbrs r27,25379 3398 00C0 rjmp .L7545380 339a 1092 0000 sts IntegralFaktor,__zero_reg__5381 .L754:5382 339e 2091 0000 lds r18,StickNick5383 33a2 3091 0000 lds r19,(StickNick)+15384 33a6 4091 0000 lds r20,MaxStickNick5385 33aa 5091 0000 lds r21,(MaxStickNick)+15386 33ae C901 movw r24,r185387 33b0 37FF sbrs r19,75388 33b2 00C0 rjmp .+45389 33b4 0C94 0000 jmp .L10905390 .L757:5391 33b8 9595 asr r255392 33ba 8795 ror r245393 33bc 9595 asr r255394 33be 8795 ror r245395 33c0 97FF sbrs r25,75396 33c2 00C0 rjmp .+45397 33c4 0C94 0000 jmp .L10915398 .L758:5399 33c8 4817 cp r20,r245400 33ca 5907 cpc r21,r255401 33cc 04F0 brlt .+25402 33ce 00C0 rjmp .L7565403 33d0 C901 movw r24,r185404 33d2 37FF sbrs r19,75405 33d4 00C0 rjmp .+45406 33d6 0C94 0000 jmp .L10925407 .L760:5408 33da 97FF sbrs r25,75409 33dc 00C0 rjmp .+45410 33de 0C94 0000 jmp .L10935411 .L761:5412 33e2 9595 asr r255413 33e4 8795 ror r245414 33e6 9595 asr r255415 33e8 8795 ror r245416 33ea 9093 0000 sts (MaxStickNick)+1,r255417 33ee 8093 0000 sts MaxStickNick,r245418 33f2 8536 cpi r24,1015419 33f4 9105 cpc r25,__zero_reg__5420 33f6 04F0 brlt .+45421 33f8 0C94 0000 jmp .L10945422 .L762:5423 33fc 2091 0000 lds r18,StickRoll5424 3400 3091 0000 lds r19,(StickRoll)+15425 3404 4091 0000 lds r20,MaxStickRoll5426 3408 5091 0000 lds r21,(MaxStickRoll)+15427 340c C901 movw r24,r185428 340e 37FF sbrs r19,75429 3410 00C0 rjmp .+45430 3412 0C94 0000 jmp .L10955431 3416 9595 asr r255432 3418 8795 ror r245433 341a 9595 asr r255434 341c 8795 ror r245435 341e 97FF sbrs r25,75436 3420 00C0 rjmp .+45437 3422 0C94 0000 jmp .L10965438 .L766:5439 3426 4817 cp r20,r245440 3428 5907 cpc r21,r255441 342a 04F0 brlt .+25442 342c 00C0 rjmp .L7645443 342e C901 movw r24,r185444 3430 37FF sbrs r19,75445 3432 00C0 rjmp .+45446 3434 0C94 0000 jmp .L10975447 .L768:5448 3438 97FF sbrs r25,75449 343a 00C0 rjmp .+45450 343c 0C94 0000 jmp .L10985451 .L769:5452 3440 9595 asr r255453 3442 8795 ror r245454 3444 9595 asr r255455 3446 8795 ror r245456 3448 9093 0000 sts (MaxStickRoll)+1,r255457 344c 8093 0000 sts MaxStickRoll,r245458 3450 8536 cpi r24,1015459 3452 9105 cpc r25,__zero_reg__5460 3454 04F0 brlt .+25461 3456 00C0 rjmp .L10995462 .L770:5463 3458 E091 0000 lds r30,Notlandung5464 345c EFA3 std Y+39,r305465 345e EE23 tst r305466 3460 01F0 breq .L7725467 3462 1092 0000 sts (MaxStickNick)+1,__zero_reg__5468 3466 1092 0000 sts MaxStickNick,__zero_reg__5469 346a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5470 346e 1092 0000 sts MaxStickRoll,__zero_reg__5471 .L772:5472 3472 F701 movw r30,r145473 3474 E050 subi r30,lo8(-(PPM_in))5474 3476 F040 sbci r31,hi8(-(PPM_in))5475 3478 2081 ld r18,Z5476 347a 3181 ldd r19,Z+15477 347c 8091 0000 lds r24,EE_Parameter+405478 3480 482F mov r20,r245479 3482 50E0 ldi r21,lo8(0)5480 3484 4217 cp r20,r185481 3486 5307 cpc r21,r195482 3488 04F4 brge .L7745483 348a 8091 0000 lds r24,EE_Parameter+755484 348e 82FD sbrc r24,25485 3490 00C0 rjmp .L11005486 .L774:5487 3492 F701 movw r30,r145488 3494 E050 subi r30,lo8(-(PPM_in))5489 3496 F040 sbci r31,hi8(-(PPM_in))5490 3498 2081 ld r18,Z5491 349a 3181 ldd r19,Z+15492 349c 8091 0000 lds r24,EE_Parameter+415493 34a0 BA01 movw r22,r205494 34a2 681B sub r22,r245495 34a4 7109 sbc r23,__zero_reg__5496 34a6 2617 cp r18,r225497 34a8 3707 cpc r19,r235498 34aa 04F4 brge .L7775499 34ac 1092 0000 sts Looping_Links,__zero_reg__5500 .L777:5501 34b0 F701 movw r30,r145502 34b2 E050 subi r30,lo8(-(PPM_in))5503 34b4 F040 sbci r31,hi8(-(PPM_in))5504 34b6 8081 ld r24,Z5505 34b8 9181 ldd r25,Z+15506 34ba 6627 clr r225507 34bc 7727 clr r235508 34be 641B sub r22,r205509 34c0 750B sbc r23,r215510 34c2 8617 cp r24,r225511 34c4 9707 cpc r25,r235512 34c6 04F4 brge .L7795513 34c8 8091 0000 lds r24,EE_Parameter+755514 34cc 83FD sbrc r24,35515 34ce 00C0 rjmp .L11015516 .L779:5517 34d0 8091 0000 lds r24,Looping_Rechts5518 34d4 8823 tst r245519 34d6 01F0 breq .L7825520 34d8 80E0 ldi r24,lo8(PPM_in)5521 34da 90E0 ldi r25,hi8(PPM_in)5522 34dc E80E add r14,r245523 34de F91E adc r15,r255524 34e0 F701 movw r30,r145525 34e2 2081 ld r18,Z5526 34e4 3181 ldd r19,Z+15527 34e6 8091 0000 lds r24,EE_Parameter+415528 34ea 90E0 ldi r25,lo8(0)5529 34ec 841B sub r24,r205530 34ee 950B sbc r25,r215531 34f0 8217 cp r24,r185532 34f2 9307 cpc r25,r195533 34f4 04F4 brge .+45534 34f6 0C94 0000 jmp .L11025535 .L782:5536 34fa F501 movw r30,r105537 34fc E050 subi r30,lo8(-(PPM_in))5538 34fe F040 sbci r31,hi8(-(PPM_in))5539 3500 8081 ld r24,Z5540 3502 9181 ldd r25,Z+15541 3504 4817 cp r20,r245542 3506 5907 cpc r21,r255543 3508 04F4 brge .L7855544 350a 8091 0000 lds r24,EE_Parameter+755545 350e 80FD sbrc r24,05546 3510 00C0 rjmp .L11035547 .L785:5548 3512 A091 0000 lds r26,Looping_Oben5549 3516 AA23 tst r265550 3518 01F0 breq .L7885551 351a F501 movw r30,r105552 351c E050 subi r30,lo8(-(PPM_in))5553 351e F040 sbci r31,hi8(-(PPM_in))5554 3520 2081 ld r18,Z5555 3522 3181 ldd r19,Z+15556 3524 8091 0000 lds r24,EE_Parameter+415557 3528 FA01 movw r30,r205558 352a E81B sub r30,r245559 352c F109 sbc r31,__zero_reg__5560 352e 2E17 cp r18,r305561 3530 3F07 cpc r19,r315562 3532 04F4 brge .+45563 3534 0C94 0000 jmp .L11045564 .L788:5565 3538 F501 movw r30,r105566 353a E050 subi r30,lo8(-(PPM_in))5567 353c F040 sbci r31,hi8(-(PPM_in))5568 353e 8081 ld r24,Z5569 3540 9181 ldd r25,Z+15570 3542 8617 cp r24,r225571 3544 9707 cpc r25,r235572 3546 04F4 brge .L7915573 3548 8091 0000 lds r24,EE_Parameter+755574 354c 81FD sbrc r24,15575 354e 00C0 rjmp .L11055576 .L791:5577 3550 8091 0000 lds r24,Looping_Unten5578 3554 8823 tst r245579 3556 01F0 breq .L7945580 3558 20E0 ldi r18,lo8(PPM_in)5581 355a 30E0 ldi r19,hi8(PPM_in)5582 355c A20E add r10,r185583 355e B31E adc r11,r195584 3560 F501 movw r30,r105585 3562 2081 ld r18,Z5586 3564 3181 ldd r19,Z+15587 3566 8091 0000 lds r24,EE_Parameter+415588 356a 90E0 ldi r25,lo8(0)5589 356c 841B sub r24,r205590 356e 950B sbc r25,r215591 3570 8217 cp r24,r185592 3572 9307 cpc r25,r195593 3574 04F4 brge .+45594 3576 0C94 0000 jmp .L11065595 .L794:5596 357a 8091 0000 lds r24,Looping_Links5597 357e 8823 tst r245598 3580 01F4 brne .L7975599 3582 8091 0000 lds r24,Looping_Rechts5600 3586 8823 tst r245601 3588 01F4 brne .+25602 358a 00C0 rjmp .L7995603 .L797:5604 358c F1E0 ldi r31,lo8(1)5605 358e F093 0000 sts Looping_Roll,r315606 .L800:5607 3592 AA23 tst r265608 3594 01F4 brne .L8015609 3596 8091 0000 lds r24,Looping_Unten5610 359a 8823 tst r245611 359c 01F4 brne .+25612 359e 00C0 rjmp .L8035613 .L801:5614 35a0 81E0 ldi r24,lo8(1)5615 35a2 8093 0000 sts Looping_Nick,r245616 35a6 1092 0000 sts Looping_Roll,__zero_reg__5617 35aa 1092 0000 sts Looping_Links,__zero_reg__5618 35ae 1092 0000 sts Looping_Rechts,__zero_reg__5619 35b2 00C0 rjmp .L8045620 .L656:5621 35b4 2998 cbi 37-0x20,15622 35b6 00C0 rjmp .L6585623 .L743:5624 35b8 EFEF ldi r30,hi8(-2)5625 35ba 8E3F cpi r24,lo8(-2)5626 35bc 9E07 cpc r25,r305627 35be 04F0 brlt .+25628 35c0 00C0 rjmp .L7465629 35c2 0296 adiw r24,25630 35c4 9093 0000 sts (StickGier)+1,r255631 35c8 8093 0000 sts StickGier,r245632 35cc 00C0 rjmp .L7455633 .L665:5634 35ce 1092 0000 sts MotorenEin,__zero_reg__5635 35d2 1092 0000 sts Notlandung,__zero_reg__5636 35d6 4A30 cpi r20,lo8(10)5637 35d8 01F0 breq .+25638 35da 00C0 rjmp .L11075639 .L668:5640 35dc 289A sbi 37-0x20,05641 35de 00C0 rjmp .L6715642 .L1062:5643 35e0 8090 0000 lds r8,MesswertGier5644 35e4 9090 0000 lds r9,(MesswertGier)+15645 .L922:5646 35e8 8091 0000 lds r24,TimerWerteausgabe.30885647 35ec 8150 subi r24,lo8(-(-1))5648 35ee 8093 0000 sts TimerWerteausgabe.3088,r245649 35f2 8F3F cpi r24,lo8(-1)5650 35f4 01F4 brne .+25651 35f6 00C0 rjmp .L11085652 .L946:5653 35f8 BEA1 ldd r27,Y+385654 35fa BB23 tst r275655 35fc 01F0 breq .L9505656 35fe 1092 0000 sts SummeRoll.3069,__zero_reg__5657 3602 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__5658 3606 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__5659 360a 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__5660 360e 1092 0000 sts SummeNick.3068,__zero_reg__5661 3612 1092 0000 sts (SummeNick.3068)+1,__zero_reg__5662 3616 1092 0000 sts (SummeNick.3068)+2,__zero_reg__5663 361a 1092 0000 sts (SummeNick.3068)+3,__zero_reg__5664 .L950:5665 361e E985 ldd r30,Y+95666 3620 EE23 tst r305667 3622 01F4 brne .+25668 3624 00C0 rjmp .L9525669 3626 1F86 std Y+15,__zero_reg__5670 3628 1E86 std Y+14,__zero_reg__5671 362a 4424 clr r45672 362c 5524 clr r55673 .L954:5674 362e 2CA5 ldd r18,Y+445675 3630 2223 tst r185676 3632 01F4 brne .+25677 3634 00C0 rjmp .L9555678 3636 1D86 std Y+13,__zero_reg__5679 3638 1C86 std Y+12,__zero_reg__5680 363a 2224 clr r25681 363c 3324 clr r35682 .L957:5683 363e 8091 0000 lds r24,TrimNick5684 3642 9091 0000 lds r25,(TrimNick)+15685 3646 893C cpi r24,2015686 3648 9105 cpc r25,__zero_reg__5687 364a 04F4 brge .+25688 364c 00C0 rjmp .L9585689 364e 88EC ldi r24,lo8(200)5690 3650 90E0 ldi r25,hi8(200)5691 3652 9093 0000 sts (TrimNick)+1,r255692 3656 8093 0000 sts TrimNick,r245693 .L960:5694 365a 6091 0000 lds r22,TrimRoll5695 365e 7091 0000 lds r23,(TrimRoll)+15696 3662 7EA7 std Y+46,r235697 3664 6DA7 std Y+45,r225698 3666 693C cpi r22,2015699 3668 7105 cpc r23,__zero_reg__5700 366a 04F4 brge .+25701 366c 00C0 rjmp .L9625702 366e A8EC ldi r26,lo8(200)5703 3670 B0E0 ldi r27,hi8(200)5704 3672 BEA7 std Y+46,r275705 3674 ADA7 std Y+45,r265706 3676 B093 0000 sts (TrimRoll)+1,r275707 367a A093 0000 sts TrimRoll,r265708 .L964:5709 367e A090 0000 lds r10,GyroFaktor5710 3682 BB24 clr r115711 3684 CC24 clr r125712 3686 DD24 clr r135713 3688 7C01 movw r14,r245714 368a 0027 clr r165715 368c F7FC sbrc r15,75716 368e 0095 com r165717 3690 102F mov r17,r165718 3692 EE0C lsl r145719 3694 FF1C rol r155720 3696 001F rol r165721 3698 111F rol r175722 369a EE0C lsl r145723 369c FF1C rol r155724 369e 001F rol r165725 36a0 111F rol r175726 36a2 EE0C lsl r145727 36a4 FF1C rol r155728 36a6 001F rol r165729 36a8 111F rol r175730 36aa EE0C lsl r145731 36ac FF1C rol r155732 36ae 001F rol r165733 36b0 111F rol r175734 36b2 EE0C lsl r145735 36b4 FF1C rol r155736 36b6 001F rol r165737 36b8 111F rol r175738 36ba EE0C lsl r145739 36bc FF1C rol r155740 36be 001F rol r165741 36c0 111F rol r175742 36c2 EE0C lsl r145743 36c4 FF1C rol r155744 36c6 001F rol r165745 36c8 111F rol r175746 36ca 6090 0000 lds r6,MesswertNick5747 36ce 7090 0000 lds r7,(MesswertNick)+15748 36d2 9301 movw r18,r65749 36d4 4427 clr r205750 36d6 37FD sbrc r19,75751 36d8 4095 com r205752 36da 542F mov r21,r205753 36dc C601 movw r24,r125754 36de B501 movw r22,r105755 36e0 0E94 0000 call __mulsi35756 36e4 E60E add r14,r225757 36e6 F71E adc r15,r235758 36e8 081F adc r16,r245759 36ea 191F adc r17,r255760 36ec C801 movw r24,r165761 36ee B701 movw r22,r145762 36f0 20E4 ldi r18,lo8(64)5763 36f2 30E0 ldi r19,hi8(64)5764 36f4 40E0 ldi r20,hlo8(64)5765 36f6 50E0 ldi r21,hhi8(64)5766 36f8 0E94 0000 call __divmodsi45767 36fc 3201 movw r6,r45768 36fe 620E add r6,r185769 3700 731E adc r7,r195770 3702 7092 0000 sts (MesswertNick)+1,r75771 3706 6092 0000 sts MesswertNick,r65772 370a 6DA5 ldd r22,Y+455773 370c 7EA5 ldd r23,Y+465774 370e 7B01 movw r14,r225775 3710 0027 clr r165776 3712 F7FC sbrc r15,75777 3714 0095 com r165778 3716 102F mov r17,r165779 3718 EE0C lsl r145780 371a FF1C rol r155781 371c 001F rol r165782 371e 111F rol r175783 3720 EE0C lsl r145784 3722 FF1C rol r155785 3724 001F rol r165786 3726 111F rol r175787 3728 EE0C lsl r145788 372a FF1C rol r155789 372c 001F rol r165790 372e 111F rol r175791 3730 EE0C lsl r145792 3732 FF1C rol r155793 3734 001F rol r165794 3736 111F rol r175795 3738 EE0C lsl r145796 373a FF1C rol r155797 373c 001F rol r165798 373e 111F rol r175799 3740 EE0C lsl r145800 3742 FF1C rol r155801 3744 001F rol r165802 3746 111F rol r175803 3748 EE0C lsl r145804 374a FF1C rol r155805 374c 001F rol r165806 374e 111F rol r175807 3750 4090 0000 lds r4,MesswertRoll5808 3754 5090 0000 lds r5,(MesswertRoll)+15809 3758 B201 movw r22,r45810 375a 8827 clr r245811 375c 77FD sbrc r23,75812 375e 8095 com r245813 3760 982F mov r25,r245814 3762 A601 movw r20,r125815 3764 9501 movw r18,r105816 3766 0E94 0000 call __mulsi35817 376a E60E add r14,r225818 376c F71E adc r15,r235819 376e 081F adc r16,r245820 3770 191F adc r17,r255821 3772 C801 movw r24,r165822 3774 B701 movw r22,r145823 3776 20E4 ldi r18,lo8(64)5824 3778 30E0 ldi r19,hi8(64)5825 377a 40E0 ldi r20,hlo8(64)5826 377c 50E0 ldi r21,hhi8(64)5827 377e 0E94 0000 call __divmodsi45828 3782 2101 movw r4,r25829 3784 420E add r4,r185830 3786 531E adc r5,r195831 3788 5092 0000 sts (MesswertRoll)+1,r55832 378c 4092 0000 sts MesswertRoll,r45833 3790 880C lsl r85834 3792 991C rol r95835 3794 B401 movw r22,r85836 3796 8827 clr r245837 3798 77FD sbrc r23,75838 379a 8095 com r245839 379c 982F mov r25,r245840 379e A601 movw r20,r125841 37a0 9501 movw r18,r105842 37a2 0E94 0000 call __mulsi35843 37a6 20E4 ldi r18,lo8(64)5844 37a8 30E0 ldi r19,hi8(64)5845 37aa 40E0 ldi r20,hlo8(64)5846 37ac 50E0 ldi r21,hhi8(64)5847 37ae 0E94 0000 call __divmodsi45848 37b2 7901 movw r14,r185849 37b4 8A01 movw r16,r205850 37b6 ADA1 ldd r26,Y+375851 37b8 6A2F mov r22,r265852 37ba 70E0 ldi r23,lo8(0)5853 37bc 80E0 ldi r24,lo8(0)5854 37be 90E0 ldi r25,hi8(0)5855 37c0 2091 0000 lds r18,Integral_Gier5856 37c4 3091 0000 lds r19,(Integral_Gier)+15857 37c8 4091 0000 lds r20,(Integral_Gier)+25858 37cc 5091 0000 lds r21,(Integral_Gier)+35859 37d0 0E94 0000 call __mulsi35860 37d4 20EF ldi r18,lo8(22000)5861 37d6 35E5 ldi r19,hi8(22000)5862 37d8 40E0 ldi r20,hlo8(22000)5863 37da 50E0 ldi r21,hhi8(22000)5864 37dc 0E94 0000 call __divmodsi45865 37e0 4701 movw r8,r145866 37e2 820E add r8,r185867 37e4 931E adc r9,r195868 37e6 9092 0000 sts (MesswertGier)+1,r95869 37ea 8092 0000 sts MesswertGier,r85870 37ee B1E0 ldi r27,lo8(16385)5871 37f0 6B16 cp r6,r275872 37f2 B0E4 ldi r27,hi8(16385)5873 37f4 7B06 cpc r7,r275874 37f6 04F4 brge .+25875 37f8 00C0 rjmp .L9665876 37fa 612C mov r6,__zero_reg__5877 37fc 40E4 ldi r20,hi8(16384)5878 37fe 742E mov r7,r205879 3800 7092 0000 sts (MesswertNick)+1,r75880 3804 6092 0000 sts MesswertNick,r65881 .L968:5882 3808 F1E0 ldi r31,lo8(16385)5883 380a 4F16 cp r4,r315884 380c F0E4 ldi r31,hi8(16385)5885 380e 5F06 cpc r5,r315886 3810 04F4 brge .+25887 3812 00C0 rjmp .L9705888 3814 412C mov r4,__zero_reg__5889 3816 20E4 ldi r18,hi8(16384)5890 3818 522E mov r5,r185891 381a 5092 0000 sts (MesswertRoll)+1,r55892 381e 4092 0000 sts MesswertRoll,r45893 .L972:5894 3822 31E0 ldi r19,lo8(16385)5895 3824 8316 cp r8,r195896 3826 30E4 ldi r19,hi8(16385)5897 3828 9306 cpc r9,r195898 382a 04F4 brge .+25899 382c 00C0 rjmp .L9745900 382e 812C mov r8,__zero_reg__5901 3830 80E4 ldi r24,hi8(16384)5902 3832 982E mov r9,r245903 3834 9092 0000 sts (MesswertGier)+1,r95904 3838 8092 0000 sts MesswertGier,r85905 .L976:5906 383c 6889 ldd r22,Y+165907 383e 7989 ldd r23,Y+175908 3840 660F lsl r225909 3842 771F rol r235910 3844 660F lsl r225911 3846 771F rol r235912 3848 7EA7 std Y+46,r235913 384a 6DA7 std Y+45,r225914 384c 7A85 ldd r23,Y+105915 384e 70FF sbrs r23,05916 3850 00C0 rjmp .L9785917 3852 71FF sbrs r23,15918 3854 00C0 rjmp .L9805919 3856 8091 0000 lds r24,EE_Parameter+755920 385a 84FD sbrc r24,45921 385c 00C0 rjmp .+45922 385e 0C94 0000 jmp .L9825923 3862 8091 0000 lds r24,Parameter_MaxHoehe5924 3866 8155 subi r24,lo8(-(-81))5925 3868 8B33 cpi r24,lo8(59)5926 386a 00F0 brlo .+45927 386c 0C94 0000 jmp .L9855928 .L984:5929 3870 8091 0000 lds r24,delay.31135930 3874 8150 subi r24,lo8(-(-1))5931 3876 8093 0000 sts delay.3113,r245932 387a 8F3F cpi r24,lo8(-1)5933 387c 01F4 brne .+45934 387e 0C94 0000 jmp .L11095935 3882 2091 0000 lds r18,HoehenWert5936 3886 3091 0000 lds r19,(HoehenWert)+15937 388a 00C0 rjmp .L9865938 .L1001:5939 388c EDA5 ldd r30,Y+455940 388e FEA5 ldd r31,Y+465941 3890 E217 cp r30,r185942 3892 F307 cpc r31,r195943 3894 04F4 brge .L10055944 3896 F093 0000 sts (hoehenregler.3079)+1,r315945 389a E093 0000 sts hoehenregler.3079,r305946 .L1005:5947 389e 2091 0000 lds r18,hoehenregler.30795948 38a2 3091 0000 lds r19,(hoehenregler.3079)+15949 38a6 3EA7 std Y+46,r195950 38a8 2DA7 std Y+45,r185951 .L978:5952 38aa 8091 0000 lds r24,MAX_GAS5953 38ae 282E mov r2,r245954 38b0 3324 clr r35955 38b2 A101 movw r20,r25956 38b4 440F lsl r205957 38b6 551F rol r215958 38b8 440F lsl r205959 38ba 551F rol r215960 38bc CA01 movw r24,r205961 38be 8055 subi r24,lo8(-(-80))5962 38c0 9040 sbci r25,hi8(-(-80))5963 38c2 0DA5 ldd r16,Y+455964 38c4 1EA5 ldd r17,Y+465965 38c6 8017 cp r24,r165966 38c8 9107 cpc r25,r175967 38ca 04F4 brge .L10075968 38cc 8C01 movw r16,r245969 .L1007:5970 38ce 1093 0000 sts (DebugOut+16)+1,r175971 38d2 0093 0000 sts DebugOut+16,r165972 38d6 688D ldd r22,Y+245973 38d8 798D ldd r23,Y+255974 38da 8A8D ldd r24,Y+265975 38dc 9B8D ldd r25,Y+275976 38de 660F lsl r225977 38e0 771F rol r235978 38e2 881F rol r245979 38e4 991F rol r255980 38e6 660F lsl r225981 38e8 771F rol r235982 38ea 881F rol r245983 38ec 991F rol r255984 38ee 7401 movw r14,r85985 38f0 E61A sub r14,r225986 38f2 F70A sbc r15,r235987 38f4 013A cpi r16,1615988 38f6 1105 cpc r17,__zero_reg__5989 38f8 04F4 brge .+25990 38fa 00C0 rjmp .L10085991 38fc 9801 movw r18,r165992 38fe 3595 asr r195993 3900 2795 ror r185994 3902 2E15 cp r18,r145995 3904 3F05 cpc r19,r155996 3906 04F0 brlt .L10105997 3908 F801 movw r30,r165998 390a 17FF sbrs r17,75999 390c 00C0 rjmp .+46000 390e 0C94 0000 jmp .L11106001 .L1012:6002 3912 F595 asr r316003 3914 E795 ror r306004 3916 2227 clr r186005 3918 3327 clr r196006 391a 2E1B sub r18,r306007 391c 3F0B sbc r19,r316008 391e 2E15 cp r18,r146009 3920 3F05 cpc r19,r156010 3922 04F4 brge .+46011 3924 0C94 0000 jmp .L11116012 .L1010:6013 3928 CA01 movw r24,r206014 392a 801B sub r24,r166015 392c 910B sbc r25,r176016 392e 8217 cp r24,r186017 3930 9307 cpc r25,r196018 3932 04F4 brge .L10166019 3934 9C01 movw r18,r246020 .L1016:6021 3936 C801 movw r24,r166022 3938 841B sub r24,r206023 393a 950B sbc r25,r216024 393c 5901 movw r10,r186025 393e 2817 cp r18,r246026 3940 3907 cpc r19,r256027 3942 04F4 brge .L10176028 3944 5C01 movw r10,r246029 .L1017:6030 3946 8091 0000 lds r24,StickNick6031 394a 9091 0000 lds r25,(StickNick)+16032 394e 6301 movw r12,r66033 3950 C81A sub r12,r246034 3952 D90A sbc r13,r256035 3954 D092 0000 sts (DiffNick)+1,r136036 3958 C092 0000 sts DiffNick,r126037 395c ADA1 ldd r26,Y+376038 395e AA23 tst r266039 3960 01F4 brne .+26040 3962 00C0 rjmp .L10186041 3964 EE85 ldd r30,Y+146042 3966 FF85 ldd r31,Y+156043 3968 E81B sub r30,r246044 396a F90B sbc r31,r256045 396c CF01 movw r24,r306046 396e AA27 clr r266047 3970 97FD sbrc r25,76048 3972 A095 com r266049 3974 BA2F mov r27,r266050 3976 2091 0000 lds r18,SummeNick.30686051 397a 3091 0000 lds r19,(SummeNick.3068)+16052 397e 4091 0000 lds r20,(SummeNick.3068)+26053 3982 5091 0000 lds r21,(SummeNick.3068)+36054 3986 280F add r18,r246055 3988 391F adc r19,r256056 398a 4A1F adc r20,r266057 398c 5B1F adc r21,r276058 398e 2093 0000 sts SummeNick.3068,r186059 3992 3093 0000 sts (SummeNick.3068)+1,r196060 3996 4093 0000 sts (SummeNick.3068)+2,r206061 399a 5093 0000 sts (SummeNick.3068)+3,r216062 .L1020:6063 399e 2130 cpi r18,lo8(64001)6064 39a0 FAEF ldi r31,hi8(64001)6065 39a2 3F07 cpc r19,r316066 39a4 F0E0 ldi r31,hlo8(64001)6067 39a6 4F07 cpc r20,r316068 39a8 F0E0 ldi r31,hhi8(64001)6069 39aa 5F07 cpc r21,r316070 39ac 04F4 brge .+26071 39ae 00C0 rjmp .L10216072 39b0 20E0 ldi r18,lo8(64000)6073 39b2 3AEF ldi r19,hi8(64000)6074 39b4 40E0 ldi r20,hlo8(64000)6075 39b6 50E0 ldi r21,hhi8(64000)6076 39b8 2093 0000 sts SummeNick.3068,r186077 39bc 3093 0000 sts (SummeNick.3068)+1,r196078 39c0 4093 0000 sts (SummeNick.3068)+2,r206079 39c4 5093 0000 sts (SummeNick.3068)+3,r216080 .L1023:6081 39c8 8091 0000 lds r24,Ki6082 39cc 9091 0000 lds r25,(Ki)+16083 39d0 3C01 movw r6,r246084 39d2 8824 clr r86085 39d4 77FC sbrc r7,76086 39d6 8094 com r86087 39d8 982C mov r9,r86088 39da CA01 movw r24,r206089 39dc B901 movw r22,r186090 39de A401 movw r20,r86091 39e0 9301 movw r18,r66092 39e2 0E94 0000 call __divmodsi46093 39e6 C20E add r12,r186094 39e8 D31E adc r13,r196095 39ea B501 movw r22,r106096 39ec B7FC sbrc r11,76097 39ee 00C0 rjmp .L11126098 .L1025:6099 39f0 77FD sbrc r23,76100 39f2 00C0 rjmp .L11136101 .L1026:6102 39f4 7595 asr r236103 39f6 6795 ror r226104 39f8 600F add r22,r166105 39fa 711F adc r23,r176106 39fc 8827 clr r246107 39fe 77FD sbrc r23,76108 3a00 8095 com r246109 3a02 982F mov r25,r246110 3a04 2091 0000 lds r18,Parameter_DynamicStability6111 3a08 30E0 ldi r19,lo8(0)6112 3a0a 40E0 ldi r20,lo8(0)6113 3a0c 50E0 ldi r21,hi8(0)6114 3a0e 0E94 0000 call __mulsi36115 3a12 20E4 ldi r18,lo8(64)6116 3a14 30E0 ldi r19,hi8(64)6117 3a16 40E0 ldi r20,hlo8(64)6118 3a18 50E0 ldi r21,hhi8(64)6119 3a1a 0E94 0000 call __divmodsi46120 3a1e 7901 movw r14,r186121 3a20 C216 cp r12,r186122 3a22 D306 cpc r13,r196123 3a24 04F4 brge .L10276124 3a26 9601 movw r18,r126125 .L1027:6126 3a28 CC24 clr r126127 3a2a DD24 clr r136128 3a2c CE18 sub r12,r146129 3a2e DF08 sbc r13,r156130 3a30 DB8A std Y+19,r136131 3a32 CA8A std Y+18,r126132 3a34 C216 cp r12,r186133 3a36 D306 cpc r13,r196134 3a38 04F4 brge .L10286135 3a3a 6901 movw r12,r186136 .L1028:6137 3a3c 8091 0000 lds r24,StickRoll6138 3a40 9091 0000 lds r25,(StickRoll)+16139 3a44 481A sub r4,r246140 3a46 590A sbc r5,r256141 3a48 5092 0000 sts (DiffRoll)+1,r56142 3a4c 4092 0000 sts DiffRoll,r46143 3a50 7DA1 ldd r23,Y+376144 3a52 7723 tst r236145 3a54 01F4 brne .+26146 3a56 00C0 rjmp .L10296147 3a58 AC85 ldd r26,Y+126148 3a5a BD85 ldd r27,Y+136149 3a5c A81B sub r26,r246150 3a5e B90B sbc r27,r256151 3a60 FD01 movw r30,r266152 3a62 CF01 movw r24,r306153 3a64 AA27 clr r266154 3a66 97FD sbrc r25,76155 3a68 A095 com r266156 3a6a BA2F mov r27,r266157 3a6c 2091 0000 lds r18,SummeRoll.30696158 3a70 3091 0000 lds r19,(SummeRoll.3069)+16159 3a74 4091 0000 lds r20,(SummeRoll.3069)+26160 3a78 5091 0000 lds r21,(SummeRoll.3069)+36161 3a7c 280F add r18,r246162 3a7e 391F adc r19,r256163 3a80 4A1F adc r20,r266164 3a82 5B1F adc r21,r276165 3a84 2093 0000 sts SummeRoll.3069,r186166 3a88 3093 0000 sts (SummeRoll.3069)+1,r196167 3a8c 4093 0000 sts (SummeRoll.3069)+2,r206168 3a90 5093 0000 sts (SummeRoll.3069)+3,r216169 .L1031:6170 3a94 2130 cpi r18,lo8(64001)6171 3a96 FAEF ldi r31,hi8(64001)6172 3a98 3F07 cpc r19,r316173 3a9a F0E0 ldi r31,hlo8(64001)6174 3a9c 4F07 cpc r20,r316175 3a9e F0E0 ldi r31,hhi8(64001)6176 3aa0 5F07 cpc r21,r316177 3aa2 04F4 brge .+26178 3aa4 00C0 rjmp .L10326179 3aa6 20E0 ldi r18,lo8(64000)6180 3aa8 3AEF ldi r19,hi8(64000)6181 3aaa 40E0 ldi r20,hlo8(64000)6182 3aac 50E0 ldi r21,hhi8(64000)6183 3aae 2093 0000 sts SummeRoll.3069,r186184 3ab2 3093 0000 sts (SummeRoll.3069)+1,r196185 3ab6 4093 0000 sts (SummeRoll.3069)+2,r206186 3aba 5093 0000 sts (SummeRoll.3069)+3,r216187 .L1034:6188 3abe CA01 movw r24,r206189 3ac0 B901 movw r22,r186190 3ac2 A401 movw r20,r86191 3ac4 9301 movw r18,r66192 3ac6 0E94 0000 call __divmodsi46193 3aca B201 movw r22,r46194 3acc 620F add r22,r186195 3ace 731F adc r23,r196196 3ad0 9701 movw r18,r146197 3ad2 6E15 cp r22,r146198 3ad4 7F05 cpc r23,r156199 3ad6 04F4 brge .L10366200 3ad8 9B01 movw r18,r226201 .L1036:6202 3ada 7901 movw r14,r186203 3adc 8A89 ldd r24,Y+186204 3ade 9B89 ldd r25,Y+196205 3ae0 2817 cp r18,r246206 3ae2 3907 cpc r19,r256207 3ae4 04F4 brge .L10376208 3ae6 7C01 movw r14,r246209 .L1037:6210 3ae8 4501 movw r8,r106211 3aea 800E add r8,r166212 3aec 911E adc r9,r176213 3aee 6091 0000 lds r22,motorwert1.30806214 3af2 7091 0000 lds r23,(motorwert1.3080)+16215 3af6 C601 movw r24,r126216 3af8 880D add r24,r86217 3afa 991D adc r25,r96218 3afc 0E94 0000 call MotorSmoothing6219 3b00 9093 0000 sts (motorwert1.3080)+1,r256220 3b04 8093 0000 sts motorwert1.3080,r246221 3b08 97FD sbrc r25,76222 3b0a 00C0 rjmp .L11146223 .L1038:6224 3b0c 9C01 movw r18,r246225 3b0e 3595 asr r196226 3b10 2795 ror r186227 3b12 3595 asr r196228 3b14 2795 ror r186229 3b16 8091 0000 lds r24,MIN_GAS6230 3b1a 682E mov r6,r246231 3b1c 7724 clr r76232 3b1e 2615 cp r18,r66233 3b20 3705 cpc r19,r76234 3b22 04F0 brlt .+26235 3b24 00C0 rjmp .L10396236 3b26 C301 movw r24,r66237 .L1041:6238 3b28 8093 0000 sts Motor_Vorne,r246239 3b2c 6091 0000 lds r22,motorwert2.30816240 3b30 7091 0000 lds r23,(motorwert2.3081)+16241 3b34 C401 movw r24,r86242 3b36 8C19 sub r24,r126243 3b38 9D09 sbc r25,r136244 3b3a 0E94 0000 call MotorSmoothing6245 3b3e 9093 0000 sts (motorwert2.3081)+1,r256246 3b42 8093 0000 sts motorwert2.3081,r246247 3b46 97FD sbrc r25,76248 3b48 00C0 rjmp .L11156249 .L1043:6250 3b4a 9595 asr r256251 3b4c 8795 ror r246252 3b4e 9595 asr r256253 3b50 8795 ror r246254 3b52 8615 cp r24,r66255 3b54 9705 cpc r25,r76256 3b56 04F0 brlt .+26257 3b58 00C0 rjmp .L10446258 3b5a C301 movw r24,r66259 .L1046:6260 3b5c 8093 0000 sts Motor_Hinten,r246261 3b60 6091 0000 lds r22,motorwert3.30826262 3b64 7091 0000 lds r23,(motorwert3.3082)+16263 3b68 C801 movw r24,r166264 3b6a 8A19 sub r24,r106265 3b6c 9B09 sbc r25,r116266 3b6e 8E0D add r24,r146267 3b70 9F1D adc r25,r156268 3b72 0E94 0000 call MotorSmoothing6269 3b76 9093 0000 sts (motorwert3.3082)+1,r256270 3b7a 8093 0000 sts motorwert3.3082,r246271 3b7e 97FD sbrc r25,76272 3b80 00C0 rjmp .L11166273 .L1048:6274 3b82 9595 asr r256275 3b84 8795 ror r246276 3b86 9595 asr r256277 3b88 8795 ror r246278 3b8a 8615 cp r24,r66279 3b8c 9705 cpc r25,r76280 3b8e 04F4 brge .L10496281 3b90 C301 movw r24,r66282 .L1051:6283 3b92 8093 0000 sts Motor_Links,r246284 3b96 6091 0000 lds r22,motorwert4.30836285 3b9a 7091 0000 lds r23,(motorwert4.3083)+16286 3b9e 0E19 sub r16,r146287 3ba0 1F09 sbc r17,r156288 3ba2 C801 movw r24,r166289 3ba4 8A19 sub r24,r106290 3ba6 9B09 sbc r25,r116291 3ba8 0E94 0000 call MotorSmoothing6292 3bac 9093 0000 sts (motorwert4.3083)+1,r256293 3bb0 8093 0000 sts motorwert4.3083,r246294 3bb4 97FD sbrc r25,76295 3bb6 00C0 rjmp .L11176296 .L1053:6297 3bb8 9595 asr r256298 3bba 8795 ror r246299 3bbc 9595 asr r256300 3bbe 8795 ror r246301 3bc0 8615 cp r24,r66302 3bc2 9705 cpc r25,r76303 3bc4 04F4 brge .+46304 3bc6 0C94 0000 jmp .L10546305 3bca 3C01 movw r6,r246306 3bcc 2816 cp r2,r246307 3bce 3906 cpc r3,r256308 3bd0 04F0 brlt .+46309 3bd2 0C94 0000 jmp .L10546310 3bd6 3101 movw r6,r26311 3bd8 0C94 0000 jmp .L10546312 .L1049:6313 3bdc 2816 cp r2,r246314 3bde 3906 cpc r3,r256315 3be0 04F4 brge .L10516316 3be2 C101 movw r24,r26317 3be4 00C0 rjmp .L10516318 .L1044:6319 3be6 2816 cp r2,r246320 3be8 3906 cpc r3,r256321 3bea 04F0 brlt .+26322 3bec 00C0 rjmp .L10466323 3bee C101 movw r24,r26324 3bf0 00C0 rjmp .L10466325 .L1039:6326 3bf2 C901 movw r24,r186327 3bf4 2216 cp r2,r186328 3bf6 3306 cpc r3,r196329 3bf8 04F0 brlt .+26330 3bfa 00C0 rjmp .L10416331 3bfc C101 movw r24,r26332 3bfe 00C0 rjmp .L10416333 .L1032:6334 3c00 2030 cpi r18,lo8(-64000)6335 3c02 66E0 ldi r22,hi8(-64000)6336 3c04 3607 cpc r19,r226337 3c06 6FEF ldi r22,hlo8(-64000)6338 3c08 4607 cpc r20,r226339 3c0a 6FEF ldi r22,hhi8(-64000)6340 3c0c 5607 cpc r21,r226341 3c0e 04F0 brlt .+26342 3c10 00C0 rjmp .L10346343 3c12 20E0 ldi r18,lo8(-64000)6344 3c14 36E0 ldi r19,hi8(-64000)6345 3c16 4FEF ldi r20,hlo8(-64000)6346 3c18 5FEF ldi r21,hhi8(-64000)6347 3c1a 2093 0000 sts SummeRoll.3069,r186348 3c1e 3093 0000 sts (SummeRoll.3069)+1,r196349 3c22 4093 0000 sts (SummeRoll.3069)+2,r206350 3c26 5093 0000 sts (SummeRoll.3069)+3,r216351 3c2a 00C0 rjmp .L10346352 .L1029:6353 3c2c C201 movw r24,r46354 3c2e AA27 clr r266355 3c30 97FD sbrc r25,76356 3c32 A095 com r266357 3c34 BA2F mov r27,r266358 3c36 2091 0000 lds r18,SummeRoll.30696359 3c3a 3091 0000 lds r19,(SummeRoll.3069)+16360 3c3e 4091 0000 lds r20,(SummeRoll.3069)+26361 3c42 5091 0000 lds r21,(SummeRoll.3069)+36362 3c46 280F add r18,r246363 3c48 391F adc r19,r256364 3c4a 4A1F adc r20,r266365 3c4c 5B1F adc r21,r276366 3c4e 2093 0000 sts SummeRoll.3069,r186367 3c52 3093 0000 sts (SummeRoll.3069)+1,r196368 3c56 4093 0000 sts (SummeRoll.3069)+2,r206369 3c5a 5093 0000 sts (SummeRoll.3069)+3,r216370 3c5e 00C0 rjmp .L10316371 .L1021:6372 3c60 2030 cpi r18,lo8(-64000)6373 3c62 66E0 ldi r22,hi8(-64000)6374 3c64 3607 cpc r19,r226375 3c66 6FEF ldi r22,hlo8(-64000)6376 3c68 4607 cpc r20,r226377 3c6a 6FEF ldi r22,hhi8(-64000)6378 3c6c 5607 cpc r21,r226379 3c6e 04F0 brlt .+26380 3c70 00C0 rjmp .L10236381 3c72 20E0 ldi r18,lo8(-64000)6382 3c74 36E0 ldi r19,hi8(-64000)6383 3c76 4FEF ldi r20,hlo8(-64000)6384 3c78 5FEF ldi r21,hhi8(-64000)6385 3c7a 2093 0000 sts SummeNick.3068,r186386 3c7e 3093 0000 sts (SummeNick.3068)+1,r196387 3c82 4093 0000 sts (SummeNick.3068)+2,r206388 3c86 5093 0000 sts (SummeNick.3068)+3,r216389 3c8a 00C0 rjmp .L10236390 .L1018:6391 3c8c C601 movw r24,r126392 3c8e AA27 clr r266393 3c90 97FD sbrc r25,76394 3c92 A095 com r266395 3c94 BA2F mov r27,r266396 3c96 2091 0000 lds r18,SummeNick.30686397 3c9a 3091 0000 lds r19,(SummeNick.3068)+16398 3c9e 4091 0000 lds r20,(SummeNick.3068)+26399 3ca2 5091 0000 lds r21,(SummeNick.3068)+36400 3ca6 280F add r18,r246401 3ca8 391F adc r19,r256402 3caa 4A1F adc r20,r266403 3cac 5B1F adc r21,r276404 3cae 2093 0000 sts SummeNick.3068,r186405 3cb2 3093 0000 sts (SummeNick.3068)+1,r196406 3cb6 4093 0000 sts (SummeNick.3068)+2,r206407 3cba 5093 0000 sts (SummeNick.3068)+3,r216408 3cbe 00C0 rjmp .L10206409 .L1008:6410 3cc0 9701 movw r18,r146411 3cc2 7FEF ldi r23,hi8(-80)6412 3cc4 203B cpi r18,lo8(-80)6413 3cc6 3707 cpc r19,r236414 3cc8 04F4 brge .L10146415 3cca 20EB ldi r18,lo8(-80)6416 3ccc 3FEF ldi r19,hi8(-80)6417 .L1014:6418 3cce 2135 cpi r18,816419 3cd0 3105 cpc r19,__zero_reg__6420 3cd2 04F4 brge .+26421 3cd4 00C0 rjmp .L10106422 3cd6 20E5 ldi r18,lo8(80)6423 3cd8 30E0 ldi r19,hi8(80)6424 3cda 00C0 rjmp .L10106425 .L974:6426 3cdc 40E0 ldi r20,lo8(-16384)6427 3cde 8416 cp r8,r206428 3ce0 40EC ldi r20,hi8(-16384)6429 3ce2 9406 cpc r9,r206430 3ce4 04F0 brlt .+26431 3ce6 00C0 rjmp .L9766432 3ce8 812C mov r8,__zero_reg__6433 3cea 00EC ldi r16,hi8(-16384)6434 3cec 902E mov r9,r166435 3cee 9092 0000 sts (MesswertGier)+1,r96436 3cf2 8092 0000 sts MesswertGier,r86437 3cf6 00C0 rjmp .L9766438 .L970:6439 3cf8 20E0 ldi r18,lo8(-16384)6440 3cfa 4216 cp r4,r186441 3cfc 20EC ldi r18,hi8(-16384)6442 3cfe 5206 cpc r5,r186443 3d00 04F0 brlt .+26444 3d02 00C0 rjmp .L9726445 3d04 412C mov r4,__zero_reg__6446 3d06 90EC ldi r25,hi8(-16384)6447 3d08 592E mov r5,r256448 3d0a 5092 0000 sts (MesswertRoll)+1,r56449 3d0e 4092 0000 sts MesswertRoll,r46450 3d12 00C0 rjmp .L9726451 .L966:6452 3d14 E0E0 ldi r30,lo8(-16384)6453 3d16 6E16 cp r6,r306454 3d18 E0EC ldi r30,hi8(-16384)6455 3d1a 7E06 cpc r7,r306456 3d1c 04F0 brlt .+26457 3d1e 00C0 rjmp .L9686458 3d20 612C mov r6,__zero_reg__6459 3d22 30EC ldi r19,hi8(-16384)6460 3d24 732E mov r7,r196461 3d26 7092 0000 sts (MesswertNick)+1,r76462 3d2a 6092 0000 sts MesswertNick,r66463 3d2e 00C0 rjmp .L9686464 .L962:6465 3d30 EDA5 ldd r30,Y+456466 3d32 FEA5 ldd r31,Y+466467 3d34 E853 subi r30,lo8(-200)6468 3d36 FF4F sbci r31,hi8(-200)6469 3d38 04F0 brlt .+26470 3d3a 00C0 rjmp .L9646471 3d3c 48E3 ldi r20,lo8(-200)6472 3d3e 5FEF ldi r21,hi8(-200)6473 3d40 5EA7 std Y+46,r216474 3d42 4DA7 std Y+45,r206475 3d44 5093 0000 sts (TrimRoll)+1,r216476 3d48 4093 0000 sts TrimRoll,r206477 3d4c 00C0 rjmp .L9646478 .L958:6479 3d4e 4FEF ldi r20,hi8(-200)6480 3d50 8833 cpi r24,lo8(-200)6481 3d52 9407 cpc r25,r206482 3d54 04F0 brlt .+26483 3d56 00C0 rjmp .L9606484 3d58 88E3 ldi r24,lo8(-200)6485 3d5a 9FEF ldi r25,hi8(-200)6486 3d5c 9093 0000 sts (TrimNick)+1,r256487 3d60 8093 0000 sts TrimNick,r246488 3d64 00C0 rjmp .L9606489 .L955:6490 3d66 3DA1 ldd r19,Y+376491 3d68 632F mov r22,r196492 3d6a 70E0 ldi r23,lo8(0)6493 3d6c 80E0 ldi r24,lo8(0)6494 3d6e 90E0 ldi r25,hi8(0)6495 3d70 2D81 ldd r18,Y+56496 3d72 3E81 ldd r19,Y+66497 3d74 4F81 ldd r20,Y+76498 3d76 5885 ldd r21,Y+86499 3d78 0E94 0000 call __mulsi36500 3d7c 28EF ldi r18,lo8(11000)6501 3d7e 3AE2 ldi r19,hi8(11000)6502 3d80 40E0 ldi r20,hlo8(11000)6503 3d82 50E0 ldi r21,hhi8(11000)6504 3d84 0E94 0000 call __divmodsi46505 3d88 3D87 std Y+13,r196506 3d8a 2C87 std Y+12,r186507 3d8c 1901 movw r2,r186508 3d8e 00C0 rjmp .L9576509 .L952:6510 3d90 FDA1 ldd r31,Y+376511 3d92 6F2F mov r22,r316512 3d94 70E0 ldi r23,lo8(0)6513 3d96 80E0 ldi r24,lo8(0)6514 3d98 90E0 ldi r25,hi8(0)6515 3d9a 2981 ldd r18,Y+16516 3d9c 3A81 ldd r19,Y+26517 3d9e 4B81 ldd r20,Y+36518 3da0 5C81 ldd r21,Y+46519 3da2 0E94 0000 call __mulsi36520 3da6 28EF ldi r18,lo8(11000)6521 3da8 3AE2 ldi r19,hi8(11000)6522 3daa 40E0 ldi r20,hlo8(11000)6523 3dac 50E0 ldi r21,hhi8(11000)6524 3dae 0E94 0000 call __divmodsi46525 3db2 3F87 std Y+15,r196526 3db4 2E87 std Y+14,r186527 3db6 2901 movw r4,r186528 3db8 00C0 rjmp .L9546529 .L918:6530 3dba 805B subi r24,lo8(-50000)6531 3dbc 9C43 sbci r25,hi8(-50000)6532 3dbe AF4F sbci r26,hlo8(-50000)6533 3dc0 BF4F sbci r27,hhi8(-50000)6534 3dc2 04F0 brlt .+46535 3dc4 0C94 0000 jmp .L9206536 3dc8 80EB ldi r24,lo8(-50000)6537 3dca 9CE3 ldi r25,hi8(-50000)6538 3dcc AFEF ldi r26,hlo8(-50000)6539 3dce BFEF ldi r27,hhi8(-50000)6540 3dd0 8093 0000 sts Mess_Integral_Gier,r246541 3dd4 9093 0000 sts (Mess_Integral_Gier)+1,r256542 3dd8 A093 0000 sts (Mess_Integral_Gier)+2,r266543 3ddc B093 0000 sts (Mess_Integral_Gier)+3,r276544 3de0 0C94 0000 jmp .L9206545 .L1059:6546 3de4 5091 0000 lds r21,TrichterFlug6547 3de8 5EA3 std Y+38,r216548 3dea 6091 0000 lds r22,IntegralFaktor6549 3dee 6DA3 std Y+37,r226550 3df0 E090 0000 lds r14,StickGier6551 3df4 F090 0000 lds r15,(StickGier)+16552 3df8 6701 movw r12,r146553 3dfa F7FC sbrc r15,76554 3dfc 00C0 rjmp .+46555 3dfe 0C94 0000 jmp .L9136556 .L1072:6557 3e02 CC24 clr r126558 3e04 DD24 clr r136559 3e06 CE18 sub r12,r146560 3e08 DF08 sbc r13,r156561 3e0a 0C94 0000 jmp .L9136562 .L1070:6563 3e0e 4091 0000 lds r20,Looping_Roll6564 3e12 4CA7 std Y+44,r206565 3e14 4423 tst r206566 3e16 01F4 brne .+26567 3e18 00C0 rjmp .L11186568 3e1a 1092 0000 sts IntegralAccNick,__zero_reg__6569 3e1e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__6570 3e22 1092 0000 sts (IntegralAccNick)+2,__zero_reg__6571 3e26 1092 0000 sts (IntegralAccNick)+3,__zero_reg__6572 3e2a 1092 0000 sts IntegralAccRoll,__zero_reg__6573 3e2e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__6574 3e32 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__6575 3e36 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__6576 3e3a 1092 0000 sts MittelIntegralNick,__zero_reg__6577 3e3e 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__6578 3e42 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__6579 3e46 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__6580 3e4a 1092 0000 sts MittelIntegralRoll,__zero_reg__6581 3e4e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__6582 3e52 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__6583 3e56 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__6584 3e5a 1092 0000 sts MittelIntegralNick2,__zero_reg__6585 3e5e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__6586 3e62 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__6587 3e66 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__6588 3e6a 1092 0000 sts MittelIntegralRoll2,__zero_reg__6589 3e6e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__6590 3e72 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__6591 3e76 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__6592 3e7a 8091 0000 lds r24,Mess_IntegralNick6593 3e7e 9091 0000 lds r25,(Mess_IntegralNick)+16594 3e82 A091 0000 lds r26,(Mess_IntegralNick)+26595 3e86 B091 0000 lds r27,(Mess_IntegralNick)+36596 3e8a 8093 0000 sts Mess_IntegralNick2,r246597 3e8e 9093 0000 sts (Mess_IntegralNick2)+1,r256598 3e92 A093 0000 sts (Mess_IntegralNick2)+2,r266599 3e96 B093 0000 sts (Mess_IntegralNick2)+3,r276600 3e9a 8091 0000 lds r24,Mess_IntegralRoll6601 3e9e 9091 0000 lds r25,(Mess_IntegralRoll)+16602 3ea2 A091 0000 lds r26,(Mess_IntegralRoll)+26603 3ea6 B091 0000 lds r27,(Mess_IntegralRoll)+36604 3eaa 8093 0000 sts Mess_IntegralRoll2,r246605 3eae 9093 0000 sts (Mess_IntegralRoll2)+1,r256606 3eb2 A093 0000 sts (Mess_IntegralRoll2)+2,r266607 3eb6 B093 0000 sts (Mess_IntegralRoll2)+3,r276608 3eba 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__6609 3ebe 1092 0000 sts ZaehlMessungen,__zero_reg__6610 3ec2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__6611 3ec6 1092 0000 sts LageKorrekturNick,__zero_reg__6612 3eca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__6613 3ece 1092 0000 sts LageKorrekturRoll,__zero_reg__6614 3ed2 0C94 0000 jmp .L8146615 .L1118:6616 3ed6 8091 0000 lds r24,Aktuell_az6617 3eda 9091 0000 lds r25,(Aktuell_az)+16618 3ede 8150 subi r24,lo8(513)6619 3ee0 9240 sbci r25,hi8(513)6620 3ee2 04F4 brge .+46621 3ee4 0C94 0000 jmp .L8146622 3ee8 8091 0000 lds r24,FromNaviCtrl_Value6623 3eec 8F3F cpi r24,lo8(-1)6624 3eee 01F4 brne .+46625 3ef0 0C94 0000 jmp .L8166626 3ef4 E090 0000 lds r14,EE_Parameter+206627 3ef8 FF24 clr r156628 3efa 00E0 ldi r16,lo8(0)6629 3efc 10E0 ldi r17,hi8(0)6630 3efe A82E mov r10,r246631 3f00 BB24 clr r116632 3f02 A7FC sbrc r10,76633 3f04 B094 com r116634 3f06 CB2C mov r12,r116635 3f08 DB2C mov r13,r116636 3f0a 6981 ldd r22,Y+16637 3f0c 7A81 ldd r23,Y+26638 3f0e 8B81 ldd r24,Y+36639 3f10 9C81 ldd r25,Y+46640 3f12 A801 movw r20,r166641 3f14 9701 movw r18,r146642 3f16 0E94 0000 call __divmodsi46643 3f1a 8091 0000 lds r24,Mittelwert_AccNick6644 3f1e 9091 0000 lds r25,(Mittelwert_AccNick)+16645 3f22 AA27 clr r266646 3f24 97FD sbrc r25,76647 3f26 A095 com r266648 3f28 BA2F mov r27,r266649 3f2a 281B sub r18,r246650 3f2c 390B sbc r19,r256651 3f2e 4A0B sbc r20,r266652 3f30 5B0B sbc r21,r276653 3f32 CA01 movw r24,r206654 3f34 B901 movw r22,r186655 3f36 A601 movw r20,r126656 3f38 9501 movw r18,r106657 3f3a 0E94 0000 call __mulsi36658 3f3e 20E0 ldi r18,lo8(512)6659 3f40 32E0 ldi r19,hi8(512)6660 3f42 40E0 ldi r20,hlo8(512)6661 3f44 50E0 ldi r21,hhi8(512)6662 3f46 0E94 0000 call __divmodsi46663 3f4a 3901 movw r6,r186664 3f4c 4A01 movw r8,r206665 3f4e 6D81 ldd r22,Y+56666 3f50 7E81 ldd r23,Y+66667 3f52 8F81 ldd r24,Y+76668 3f54 9885 ldd r25,Y+86669 3f56 A801 movw r20,r166670 3f58 9701 movw r18,r146671 3f5a 0E94 0000 call __divmodsi46672 3f5e 8091 0000 lds r24,Mittelwert_AccRoll6673 3f62 9091 0000 lds r25,(Mittelwert_AccRoll)+16674 3f66 AA27 clr r266675 3f68 97FD sbrc r25,76676 3f6a A095 com r266677 3f6c BA2F mov r27,r266678 3f6e 281B sub r18,r246679 3f70 390B sbc r19,r256680 3f72 4A0B sbc r20,r266681 3f74 5B0B sbc r21,r276682 3f76 CA01 movw r24,r206683 3f78 B901 movw r22,r186684 3f7a A601 movw r20,r126685 3f7c 9501 movw r18,r106686 3f7e 0E94 0000 call __mulsi36687 3f82 20E0 ldi r18,lo8(512)6688 3f84 32E0 ldi r19,hi8(512)6689 3f86 40E0 ldi r20,hlo8(512)6690 3f88 50E0 ldi r21,hhi8(512)6691 3f8a 0E94 0000 call __divmodsi46692 3f8e 5901 movw r10,r186693 3f90 6A01 movw r12,r206694 3f92 8091 0000 lds r24,MaxStickNick6695 3f96 9091 0000 lds r25,(MaxStickNick)+16696 3f9a 8134 cpi r24,656697 3f9c 9105 cpc r25,__zero_reg__6698 3f9e 04F0 brlt .+26699 3fa0 00C0 rjmp .L8186700 3fa2 8091 0000 lds r24,MaxStickRoll6701 3fa6 9091 0000 lds r25,(MaxStickRoll)+16702 3faa 8134 cpi r24,656703 3fac 9105 cpc r25,__zero_reg__6704 3fae 04F0 brlt .+26705 3fb0 00C0 rjmp .L8186706 .L820:6707 3fb2 E091 0000 lds r30,EE_Parameter+36708 3fb6 F0E0 ldi r31,lo8(0)6709 3fb8 EE0F lsl r306710 3fba FF1F rol r316711 3fbc E050 subi r30,lo8(-(PPM_in))6712 3fbe F040 sbci r31,hi8(-(PPM_in))6713 3fc0 0190 ld __tmp_reg__,Z+6714 3fc2 F081 ld r31,Z6715 3fc4 E02D mov r30,__tmp_reg__6716 3fc6 F7FF sbrs r31,76717 3fc8 00C0 rjmp .+46718 3fca 0C94 0000 jmp .L11196719 .L822:6720 3fce 7A97 sbiw r30,266721 3fd0 04F0 brlt .L8216722 3fd2 C401 movw r24,r86723 3fd4 B301 movw r22,r66724 3fd6 23E0 ldi r18,lo8(3)6725 3fd8 30E0 ldi r19,hi8(3)6726 3fda 40E0 ldi r20,hlo8(3)6727 3fdc 50E0 ldi r21,hhi8(3)6728 3fde 0E94 0000 call __divmodsi46729 3fe2 3901 movw r6,r186730 3fe4 4A01 movw r8,r206731 3fe6 C601 movw r24,r126732 3fe8 B501 movw r22,r106733 3fea 23E0 ldi r18,lo8(3)6734 3fec 30E0 ldi r19,hi8(3)6735 3fee 40E0 ldi r20,hlo8(3)6736 3ff0 50E0 ldi r21,hhi8(3)6737 3ff2 0E94 0000 call __divmodsi46738 3ff6 5901 movw r10,r186739 3ff8 6A01 movw r12,r206740 .L821:6741 3ffa 8091 0000 lds r24,FromNaviCtrl_Value+26742 3ffe E82E mov r14,r246743 4000 FF24 clr r156744 4002 E7FC sbrc r14,76745 4004 F094 com r156746 4006 0F2D mov r16,r156747 4008 1F2D mov r17,r156748 400a A401 movw r20,r86749 400c 9301 movw r18,r66750 400e E614 cp r14,r66751 4010 F704 cpc r15,r76752 4012 0805 cpc r16,r86753 4014 1905 cpc r17,r96754 4016 04F4 brge .L8246755 4018 A801 movw r20,r166756 401a 9701 movw r18,r146757 .L824:6758 401c 9927 clr r256759 401e 87FD sbrc r24,76760 4020 9095 com r256761 4022 9095 com r256762 4024 8195 neg r246763 4026 9F4F sbci r25,lo8(-1)6764 4028 AA27 clr r266765 402a 97FD sbrc r25,76766 402c A095 com r266767 402e BA2F mov r27,r266768 4030 3901 movw r6,r186769 4032 4A01 movw r8,r206770 4034 2817 cp r18,r246771 4036 3907 cpc r19,r256772 4038 4A07 cpc r20,r266773 403a 5B07 cpc r21,r276774 403c 04F4 brge .L8256775 403e 3C01 movw r6,r246776 4040 4D01 movw r8,r266777 .L825:6778 4042 EA14 cp r14,r106779 4044 FB04 cpc r15,r116780 4046 0C05 cpc r16,r126781 4048 1D05 cpc r17,r136782 404a 04F4 brge .L8266783 404c 5701 movw r10,r146784 404e 6801 movw r12,r166785 .L826:6786 4050 A816 cp r10,r246787 4052 B906 cpc r11,r256788 4054 CA06 cpc r12,r266789 4056 DB06 cpc r13,r276790 4058 04F4 brge .L8276791 405a 5C01 movw r10,r246792 405c 6D01 movw r12,r266793 .L827:6794 405e 8091 0000 lds r24,Mess_IntegralNick6795 4062 9091 0000 lds r25,(Mess_IntegralNick)+16796 4066 A091 0000 lds r26,(Mess_IntegralNick)+26797 406a B091 0000 lds r27,(Mess_IntegralNick)+36798 406e 8619 sub r24,r66799 4070 9709 sbc r25,r76800 4072 A809 sbc r26,r86801 4074 B909 sbc r27,r96802 4076 8093 0000 sts Mess_IntegralNick,r246803 407a 9093 0000 sts (Mess_IntegralNick)+1,r256804 407e A093 0000 sts (Mess_IntegralNick)+2,r266805 4082 B093 0000 sts (Mess_IntegralNick)+3,r276806 4086 8091 0000 lds r24,Mess_IntegralRoll6807 408a 9091 0000 lds r25,(Mess_IntegralRoll)+16808 408e A091 0000 lds r26,(Mess_IntegralRoll)+26809 4092 B091 0000 lds r27,(Mess_IntegralRoll)+36810 4096 8A19 sub r24,r106811 4098 9B09 sbc r25,r116812 409a AC09 sbc r26,r126813 409c BD09 sbc r27,r136814 409e 8093 0000 sts Mess_IntegralRoll,r246815 40a2 9093 0000 sts (Mess_IntegralRoll)+1,r256816 40a6 A093 0000 sts (Mess_IntegralRoll)+2,r266817 40aa B093 0000 sts (Mess_IntegralRoll)+3,r276818 40ae 0C94 0000 jmp .L8146819 .L1108:6820 40b2 88E1 ldi r24,lo8(24)6821 40b4 8093 0000 sts TimerWerteausgabe.3088,r246822 40b8 E090 0000 lds r14,EE_Parameter+206823 40bc FF24 clr r156824 40be EE0C lsl r146825 40c0 FF1C rol r156826 40c2 EE0C lsl r146827 40c4 FF1C rol r156828 40c6 0027 clr r166829 40c8 F7FC sbrc r15,76830 40ca 0095 com r166831 40cc 102F mov r17,r166832 40ce 6981 ldd r22,Y+16833 40d0 7A81 ldd r23,Y+26834 40d2 8B81 ldd r24,Y+36835 40d4 9C81 ldd r25,Y+46836 40d6 A801 movw r20,r166837 40d8 9701 movw r18,r146838 40da 0E94 0000 call __divmodsi46839 40de 3093 0000 sts (DebugOut+2)+1,r196840 40e2 2093 0000 sts DebugOut+2,r186841 40e6 6D81 ldd r22,Y+56842 40e8 7E81 ldd r23,Y+66843 40ea 8F81 ldd r24,Y+76844 40ec 9885 ldd r25,Y+86845 40ee A801 movw r20,r166846 40f0 9701 movw r18,r146847 40f2 0E94 0000 call __divmodsi46848 40f6 3093 0000 sts (DebugOut+4)+1,r196849 40fa 2093 0000 sts DebugOut+4,r186850 40fe 8091 0000 lds r24,Mittelwert_AccNick6851 4102 9091 0000 lds r25,(Mittelwert_AccNick)+16852 4106 97FD sbrc r25,76853 4108 00C0 rjmp .L11206854 .L948:6855 410a 9595 asr r256856 410c 8795 ror r246857 410e 9595 asr r256858 4110 8795 ror r246859 4112 9093 0000 sts (DebugOut+6)+1,r256860 4116 8093 0000 sts DebugOut+6,r246861 411a 8091 0000 lds r24,Mittelwert_AccRoll6862 411e 9091 0000 lds r25,(Mittelwert_AccRoll)+16863 4122 97FD sbrc r25,76864 4124 00C0 rjmp .L11216865 .L949:6866 4126 9595 asr r256867 4128 8795 ror r246868 412a 9595 asr r256869 412c 8795 ror r246870 412e 9093 0000 sts (DebugOut+8)+1,r256871 4132 8093 0000 sts DebugOut+8,r246872 4136 9092 0000 sts (DebugOut+10)+1,r96873 413a 8092 0000 sts DebugOut+10,r86874 413e 2091 0000 lds r18,HoehenWert6875 4142 3091 0000 lds r19,(HoehenWert)+16876 4146 3093 0000 sts (DebugOut+12)+1,r196877 414a 2093 0000 sts DebugOut+12,r186878 414e 6091 0000 lds r22,Mess_Integral_Hoch6879 4152 7091 0000 lds r23,(Mess_Integral_Hoch)+16880 4156 8091 0000 lds r24,(Mess_Integral_Hoch)+26881 415a 9091 0000 lds r25,(Mess_Integral_Hoch)+36882 415e 20E0 ldi r18,lo8(512)6883 4160 32E0 ldi r19,hi8(512)6884 4162 40E0 ldi r20,hlo8(512)6885 4164 50E0 ldi r21,hhi8(512)6886 4166 0E94 0000 call __divmodsi46887 416a 3093 0000 sts (DebugOut+14)+1,r196888 416e 2093 0000 sts DebugOut+14,r186889 4172 3092 0000 sts (DebugOut+18)+1,r36890 4176 2092 0000 sts DebugOut+18,r26891 417a 8091 0000 lds r24,UBat6892 417e 9091 0000 lds r25,(UBat)+16893 4182 9093 0000 sts (DebugOut+20)+1,r256894 4186 8093 0000 sts DebugOut+20,r246895 418a 6091 0000 lds r22,ErsatzKompass6896 418e 7091 0000 lds r23,(ErsatzKompass)+16897 4192 8091 0000 lds r24,(ErsatzKompass)+26898 4196 9091 0000 lds r25,(ErsatzKompass)+36899 419a 2091 0000 lds r18,GIER_GRAD_FAKTOR6900 419e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+16901 41a2 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+26902 41a6 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+36903 41aa 0E94 0000 call __divmodsi46904 41ae 3093 0000 sts (DebugOut+24)+1,r196905 41b2 2093 0000 sts DebugOut+24,r186906 41b6 8091 0000 lds r24,SenderOkay6907 41ba 90E0 ldi r25,lo8(0)6908 41bc 9093 0000 sts (DebugOut+22)+1,r256909 41c0 8093 0000 sts DebugOut+22,r246910 41c4 8091 0000 lds r24,WinkelOut+66911 41c8 90E0 ldi r25,lo8(0)6912 41ca 9093 0000 sts (DebugOut+40)+1,r256913 41ce 8093 0000 sts DebugOut+40,r246914 41d2 8091 0000 lds r24,ServoValue6915 41d6 9091 0000 lds r25,(ServoValue)+16916 41da 9093 0000 sts (DebugOut+42)+1,r256917 41de 8093 0000 sts DebugOut+42,r246918 41e2 8091 0000 lds r24,FromNaviCtrl_Value+16919 41e6 9927 clr r256920 41e8 87FD sbrc r24,76921 41ea 9095 com r256922 41ec 9093 0000 sts (DebugOut+56)+1,r256923 41f0 8093 0000 sts DebugOut+56,r246924 41f4 8091 0000 lds r24,GPS_Nick6925 41f8 9091 0000 lds r25,(GPS_Nick)+16926 41fc 9093 0000 sts (DebugOut+62)+1,r256927 4200 8093 0000 sts DebugOut+62,r246928 4204 8091 0000 lds r24,GPS_Roll6929 4208 9091 0000 lds r25,(GPS_Roll)+16930 420c 9093 0000 sts (DebugOut+64)+1,r256931 4210 8093 0000 sts DebugOut+64,r246932 4214 00C0 rjmp .L9466933 .L764:6934 4216 4150 subi r20,lo8(-(-1))6935 4218 5040 sbci r21,hi8(-(-1))6936 421a 5093 0000 sts (MaxStickRoll)+1,r216937 421e 4093 0000 sts MaxStickRoll,r206938 4222 00C0 rjmp .L7706939 .L756:6940 4224 4150 subi r20,lo8(-(-1))6941 4226 5040 sbci r21,hi8(-(-1))6942 4228 5093 0000 sts (MaxStickNick)+1,r216943 422c 4093 0000 sts MaxStickNick,r206944 4230 00C0 rjmp .L7626945 .L980:6946 4232 8091 0000 lds r24,Parameter_MaxHoehe6947 4236 2091 0000 lds r18,ExternHoehenValue6948 423a 3091 0000 lds r19,(ExternHoehenValue)+16949 423e 280F add r18,r246950 4240 311D adc r19,__zero_reg__6951 4242 8091 0000 lds r24,EE_Parameter+136952 4246 90E0 ldi r25,lo8(0)6953 4248 FC01 movw r30,r246954 424a 2E9F mul r18,r306955 424c C001 movw r24,r06956 424e 2F9F mul r18,r316957 4250 900D add r25,r06958 4252 3E9F mul r19,r306959 4254 900D add r25,r06960 4256 1124 clr r16961 4258 4497 sbiw r24,206962 425a 9093 0000 sts (SollHoehe)+1,r256963 425e 8093 0000 sts SollHoehe,r246964 4262 81E0 ldi r24,lo8(1)6965 4264 8093 0000 sts HoehenReglerAktiv,r246966 4268 2091 0000 lds r18,HoehenWert6967 426c 3091 0000 lds r19,(HoehenWert)+16968 .L986:6969 4270 FFA1 ldd r31,Y+396970 4272 FF23 tst r316971 4274 01F0 breq .L9926972 4276 1092 0000 sts (SollHoehe)+1,__zero_reg__6973 427a 1092 0000 sts SollHoehe,__zero_reg__6974 .L992:6975 427e 4091 0000 lds r20,SollHoehe6976 4282 5091 0000 lds r21,(SollHoehe)+16977 4286 4217 cp r20,r186978 4288 5307 cpc r21,r196979 428a 04F0 brlt .+26980 428c 00C0 rjmp .L9786981 428e 8091 0000 lds r24,HoehenReglerAktiv6982 4292 8823 tst r246983 4294 01F4 brne .+26984 4296 00C0 rjmp .L9786985 4298 8091 0000 lds r24,Parameter_Hoehe_P6986 429c 90E0 ldi r25,lo8(0)6987 429e 241B sub r18,r206988 42a0 350B sbc r19,r216989 42a2 AC01 movw r20,r246990 42a4 429F mul r20,r186991 42a6 C001 movw r24,r06992 42a8 439F mul r20,r196993 42aa 900D add r25,r06994 42ac 529F mul r21,r186995 42ae 900D add r25,r06996 42b0 1124 clr r16997 42b2 97FD sbrc r25,76998 42b4 00C0 rjmp .L11226999 .L996:7000 42b6 5C01 movw r10,r247001 42b8 B594 asr r117002 42ba A794 ror r107003 42bc B594 asr r117004 42be A794 ror r107005 42c0 C090 0000 lds r12,HoeheD7006 42c4 D090 0000 lds r13,(HoeheD)+17007 42c8 6091 0000 lds r22,Mess_Integral_Hoch7008 42cc 7091 0000 lds r23,(Mess_Integral_Hoch)+17009 42d0 8091 0000 lds r24,(Mess_Integral_Hoch)+27010 42d4 9091 0000 lds r25,(Mess_Integral_Hoch)+37011 42d8 E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung7012 42dc FF24 clr r157013 42de 00E0 ldi r16,lo8(0)7014 42e0 10E0 ldi r17,hi8(0)7015 42e2 20E8 ldi r18,lo8(128)7016 42e4 30E0 ldi r19,hi8(128)7017 42e6 40E0 ldi r20,hlo8(128)7018 42e8 50E0 ldi r21,hhi8(128)7019 42ea 0E94 0000 call __divmodsi47020 42ee C801 movw r24,r167021 42f0 B701 movw r22,r147022 42f2 0E94 0000 call __mulsi37023 42f6 20E2 ldi r18,lo8(32)7024 42f8 30E0 ldi r19,hi8(32)7025 42fa 40E0 ldi r20,hlo8(32)7026 42fc 50E0 ldi r21,hhi8(32)7027 42fe 0E94 0000 call __divmodsi47028 4302 A901 movw r20,r187029 4304 285E subi r18,lo8(-280)7030 4306 3E4F sbci r19,hi8(-280)7031 4308 04F4 brge .L9977032 430a 48EE ldi r20,lo8(-280)7033 430c 5EEF ldi r21,hi8(-280)7034 .L997:7035 430e 2091 0000 lds r18,hoehenregler.30797036 4312 3091 0000 lds r19,(hoehenregler.3079)+17037 4316 C901 movw r24,r187038 4318 880F lsl r247039 431a 991F rol r257040 431c 820F add r24,r187041 431e 931F adc r25,r197042 4320 BC01 movw r22,r247043 4322 660F lsl r227044 4324 771F rol r237045 4326 660F lsl r227046 4328 771F rol r237047 432a 680F add r22,r247048 432c 791F adc r23,r257049 432e 9601 movw r18,r127050 4330 D7FC sbrc r13,77051 4332 00C0 rjmp .L11237052 .L998:7053 4334 3595 asr r197054 4336 2795 ror r187055 4338 CB01 movw r24,r227056 433a 821B sub r24,r187057 433c 930B sbc r25,r197058 433e 9A01 movw r18,r207059 4340 4951 subi r20,lo8(281)7060 4342 5140 sbci r21,hi8(281)7061 4344 04F0 brlt .L9997062 4346 28E1 ldi r18,lo8(280)7063 4348 31E0 ldi r19,hi8(280)7064 .L999:7065 434a 821B sub r24,r187066 434c 930B sbc r25,r197067 434e 9C01 movw r18,r247068 4350 8DA5 ldd r24,Y+457069 4352 9EA5 ldd r25,Y+467070 4354 8A19 sub r24,r107071 4356 9B09 sbc r25,r117072 4358 280F add r18,r247073 435a 391F adc r19,r257074 435c 37FD sbrc r19,77075 435e 00C0 rjmp .L11247076 .L1000:7077 4360 3595 asr r197078 4362 2795 ror r187079 4364 3595 asr r197080 4366 2795 ror r187081 4368 3595 asr r197082 436a 2795 ror r187083 436c 3595 asr r197084 436e 2795 ror r187085 4370 3093 0000 sts (hoehenregler.3079)+1,r197086 4374 2093 0000 sts hoehenregler.3079,r187087 4378 8091 0000 lds r24,EE_Parameter+97088 437c 682F mov r22,r247089 437e 70E0 ldi r23,lo8(0)7090 4380 660F lsl r227091 4382 771F rol r237092 4384 660F lsl r227093 4386 771F rol r237094 4388 2617 cp r18,r227095 438a 3707 cpc r19,r237096 438c 04F0 brlt .+27097 438e 00C0 rjmp .L10017098 4390 8DA5 ldd r24,Y+457099 4392 9EA5 ldd r25,Y+467100 4394 8617 cp r24,r227101 4396 9707 cpc r25,r237102 4398 04F4 brge .+27103 439a 00C0 rjmp .L10037104 439c 7093 0000 sts (hoehenregler.3079)+1,r237105 43a0 6093 0000 sts hoehenregler.3079,r227106 43a4 00C0 rjmp .L10057107 .L672:7108 43a6 1092 0000 sts MotorenEin,__zero_reg__7109 43aa 0C94 0000 jmp .L6747110 .L1073:7111 43ae 6D5F subi r22,lo8(-(3))7112 43b0 7F4F sbci r23,hi8(-(3))7113 43b2 0C94 0000 jmp .L9177114 .L1113:7115 43b6 6F5F subi r22,lo8(-(1))7116 43b8 7F4F sbci r23,hi8(-(1))7117 43ba 00C0 rjmp .L10267118 .L1112:7119 43bc 6627 clr r227120 43be 7727 clr r237121 43c0 6A19 sub r22,r107122 43c2 7B09 sbc r23,r117123 43c4 00C0 rjmp .L10257124 .L1115:7125 43c6 0396 adiw r24,37126 43c8 00C0 rjmp .L10437127 .L1114:7128 43ca 0396 adiw r24,37129 43cc 00C0 rjmp .L10387130 .L1117:7131 43ce 0396 adiw r24,37132 43d0 00C0 rjmp .L10537133 .L1116:7134 43d2 0396 adiw r24,37135 43d4 00C0 rjmp .L10487136 .L803:7137 43d6 1092 0000 sts Looping_Nick,__zero_reg__7138 43da 0C94 0000 jmp .L7407139 .L799:7140 43de 1092 0000 sts Looping_Roll,__zero_reg__7141 43e2 00C0 rjmp .L8007142 .L1105:7143 43e4 81E0 ldi r24,lo8(1)7144 43e6 8093 0000 sts Looping_Unten,r247145 43ea 00C0 rjmp .L7947146 .L1103:7147 43ec A1E0 ldi r26,lo8(1)7148 43ee A093 0000 sts Looping_Oben,r267149 43f2 00C0 rjmp .L7887150 .L1101:7151 43f4 81E0 ldi r24,lo8(1)7152 43f6 8093 0000 sts Looping_Rechts,r247153 43fa 00C0 rjmp .L7827154 .L1100:7155 43fc 81E0 ldi r24,lo8(1)7156 43fe 8093 0000 sts Looping_Links,r247157 4402 00C0 rjmp .L7777158 .L1099:7159 4404 84E6 ldi r24,lo8(100)7160 4406 90E0 ldi r25,hi8(100)7161 4408 9093 0000 sts (MaxStickRoll)+1,r257162 440c 8093 0000 sts MaxStickRoll,r247163 4410 00C0 rjmp .L7707164 .L1094:7165 4412 84E6 ldi r24,lo8(100)7166 4414 90E0 ldi r25,hi8(100)7167 4416 9093 0000 sts (MaxStickNick)+1,r257168 441a 8093 0000 sts MaxStickNick,r247169 441e 0C94 0000 jmp .L7627170 .L1088:7171 4422 8091 0000 lds r24,ExternControl+37172 4426 9927 clr r257173 4428 87FD sbrc r24,77174 442a 9095 com r257175 442c AC01 movw r20,r247176 442e 489D mul r20,r87177 4430 C001 movw r24,r07178 4432 499D mul r20,r97179 4434 900D add r25,r07180 4436 589D mul r21,r87181 4438 900D add r25,r07182 443a 1124 clr r17183 443c C80E add r12,r247184 443e D91E adc r13,r257185 4440 D092 0000 sts (StickNick)+1,r137186 4444 C092 0000 sts StickNick,r127187 4448 8091 0000 lds r24,ExternControl+47188 444c 9927 clr r257189 444e 87FD sbrc r24,77190 4450 9095 com r257191 4452 BC01 movw r22,r247192 4454 689D mul r22,r87193 4456 C001 movw r24,r07194 4458 699D mul r22,r97195 445a 900D add r25,r07196 445c 789D mul r23,r87197 445e 900D add r25,r07198 4460 1124 clr r17199 4462 080F add r16,r247200 4464 191F adc r17,r257201 4466 1093 0000 sts (StickRoll)+1,r177202 446a 0093 0000 sts StickRoll,r167203 446e 2091 0000 lds r18,ExternControl+57204 4472 3327 clr r197205 4474 27FD sbrc r18,77206 4476 3095 com r197207 4478 8091 0000 lds r24,StickGier7208 447c 9091 0000 lds r25,(StickGier)+17209 4480 820F add r24,r187210 4482 931F adc r25,r197211 4484 9093 0000 sts (StickGier)+1,r257212 4488 8093 0000 sts StickGier,r247213 448c 2091 0000 lds r18,EE_Parameter+137214 4490 30E0 ldi r19,lo8(0)7215 4492 8091 0000 lds r24,ExternControl+77216 4496 9927 clr r257217 4498 87FD sbrc r24,77218 449a 9095 com r257219 449c DC01 movw r26,r247220 449e 2A9F mul r18,r267221 44a0 C001 movw r24,r07222 44a2 2B9F mul r18,r277223 44a4 900D add r25,r07224 44a6 3A9F mul r19,r267225 44a8 900D add r25,r07226 44aa 1124 clr r17227 44ac 9093 0000 sts (ExternHoehenValue)+1,r257228 44b0 8093 0000 sts ExternHoehenValue,r247229 44b4 8091 0000 lds r24,ExternControl+67230 44b8 90E0 ldi r25,lo8(0)7231 44ba 8615 cp r24,r67232 44bc 9705 cpc r25,r77233 44be 04F0 brlt .+47234 44c0 0C94 0000 jmp .L7487235 44c4 9093 0000 sts (StickGas)+1,r257236 44c8 8093 0000 sts StickGas,r247237 44cc 0C94 0000 jmp .L7487238 .L746:7239 44d0 1092 0000 sts (StickGier)+1,__zero_reg__7240 44d4 1092 0000 sts StickGier,__zero_reg__7241 44d8 0C94 0000 jmp .L7457242 .L1071:7243 44dc F091 0000 lds r31,TrichterFlug7244 44e0 FEA3 std Y+38,r317245 44e2 FF23 tst r317246 44e4 01F0 breq .+47247 44e6 0C94 0000 jmp .L8447248 44ea 2091 0000 lds r18,EE_Parameter+487249 44ee 2C8F std Y+28,r187250 44f0 2223 tst r187251 44f2 01F4 brne .+47252 44f4 0C94 0000 jmp .L8447253 44f8 4091 0000 lds r20,MittelIntegralNick7254 44fc 5091 0000 lds r21,(MittelIntegralNick)+17255 4500 6091 0000 lds r22,(MittelIntegralNick)+27256 4504 7091 0000 lds r23,(MittelIntegralNick)+37257 4508 CB01 movw r24,r227258 450a BA01 movw r22,r207259 450c 20E0 ldi r18,lo8(256)7260 450e 31E0 ldi r19,hi8(256)7261 4510 40E0 ldi r20,hlo8(256)7262 4512 50E0 ldi r21,hhi8(256)7263 4514 0E94 0000 call __divmodsi47264 4518 28A7 std Y+40,r187265 451a 39A7 std Y+41,r197266 451c 4AA7 std Y+42,r207267 451e 5BA7 std Y+43,r217268 4520 2093 0000 sts MittelIntegralNick,r187269 4524 3093 0000 sts (MittelIntegralNick)+1,r197270 4528 4093 0000 sts (MittelIntegralNick)+2,r207271 452c 5093 0000 sts (MittelIntegralNick)+3,r217272 4530 2090 0000 lds r2,MittelIntegralRoll7273 4534 3090 0000 lds r3,(MittelIntegralRoll)+17274 4538 4090 0000 lds r4,(MittelIntegralRoll)+27275 453c 5090 0000 lds r5,(MittelIntegralRoll)+37276 4540 C201 movw r24,r47277 4542 B101 movw r22,r27278 4544 20E0 ldi r18,lo8(256)7279 4546 31E0 ldi r19,hi8(256)7280 4548 40E0 ldi r20,hlo8(256)7281 454a 50E0 ldi r21,hhi8(256)7282 454c 0E94 0000 call __divmodsi47283 4550 1901 movw r2,r187284 4552 2A01 movw r4,r207285 4554 2093 0000 sts MittelIntegralRoll,r187286 4558 3093 0000 sts (MittelIntegralRoll)+1,r197287 455c 4093 0000 sts (MittelIntegralRoll)+2,r207288 4560 5093 0000 sts (MittelIntegralRoll)+3,r217289 4564 E090 0000 lds r14,EE_Parameter+207290 4568 FF24 clr r157291 456a 00E0 ldi r16,lo8(0)7292 456c 10E0 ldi r17,hi8(0)7293 456e 2091 0000 lds r18,IntegralAccNick7294 4572 3091 0000 lds r19,(IntegralAccNick)+17295 4576 4091 0000 lds r20,(IntegralAccNick)+27296 457a 5091 0000 lds r21,(IntegralAccNick)+37297 457e C801 movw r24,r167298 4580 B701 movw r22,r147299 4582 0E94 0000 call __mulsi37300 4586 20E0 ldi r18,lo8(256)7301 4588 31E0 ldi r19,hi8(256)7302 458a 40E0 ldi r20,hlo8(256)7303 458c 50E0 ldi r21,hhi8(256)7304 458e 0E94 0000 call __divmodsi47305 4592 5901 movw r10,r187306 4594 6A01 movw r12,r207307 4596 2093 0000 sts IntegralAccNick,r187308 459a 3093 0000 sts (IntegralAccNick)+1,r197309 459e 4093 0000 sts (IntegralAccNick)+2,r207310 45a2 5093 0000 sts (IntegralAccNick)+3,r217311 45a6 2091 0000 lds r18,IntegralAccRoll7312 45aa 3091 0000 lds r19,(IntegralAccRoll)+17313 45ae 4091 0000 lds r20,(IntegralAccRoll)+27314 45b2 5091 0000 lds r21,(IntegralAccRoll)+37315 45b6 C801 movw r24,r167316 45b8 B701 movw r22,r147317 45ba 0E94 0000 call __mulsi37318 45be 20E0 ldi r18,lo8(256)7319 45c0 31E0 ldi r19,hi8(256)7320 45c2 40E0 ldi r20,hlo8(256)7321 45c4 50E0 ldi r21,hhi8(256)7322 45c6 0E94 0000 call __divmodsi47323 45ca 3901 movw r6,r187324 45cc 4A01 movw r8,r207325 45ce 2093 0000 sts IntegralAccRoll,r187326 45d2 3093 0000 sts (IntegralAccRoll)+1,r197327 45d6 4093 0000 sts (IntegralAccRoll)+2,r207328 45da 5093 0000 sts (IntegralAccRoll)+3,r217329 45de 6091 0000 lds r22,IntegralAccZ7330 45e2 7091 0000 lds r23,(IntegralAccZ)+17331 45e6 8091 0000 lds r24,(IntegralAccZ)+27332 45ea 9091 0000 lds r25,(IntegralAccZ)+37333 45ee 20E0 ldi r18,lo8(256)7334 45f0 31E0 ldi r19,hi8(256)7335 45f2 40E0 ldi r20,hlo8(256)7336 45f4 50E0 ldi r21,hhi8(256)7337 45f6 0E94 0000 call __divmodsi47338 45fa 2093 0000 sts IntegralAccZ,r187339 45fe 3093 0000 sts (IntegralAccZ)+1,r197340 4602 4093 0000 sts (IntegralAccZ)+2,r207341 4606 5093 0000 sts (IntegralAccZ)+3,r217342 460a E090 0000 lds r14,EE_Parameter+477343 460e FF24 clr r157344 4610 00E0 ldi r16,lo8(0)7345 4612 10E0 ldi r17,hi8(0)7346 4614 68A5 ldd r22,Y+407347 4616 79A5 ldd r23,Y+417348 4618 8AA5 ldd r24,Y+427349 461a 9BA5 ldd r25,Y+437350 461c 6A19 sub r22,r107351 461e 7B09 sbc r23,r117352 4620 8C09 sbc r24,r127353 4622 9D09 sbc r25,r137354 4624 A801 movw r20,r167355 4626 9701 movw r18,r147356 4628 0E94 0000 call __divmodsi47357 462c 2093 0000 sts ausgleichNick.3090,r187358 4630 3093 0000 sts (ausgleichNick.3090)+1,r197359 4634 4093 0000 sts (ausgleichNick.3090)+2,r207360 4638 5093 0000 sts (ausgleichNick.3090)+3,r217361 463c CA01 movw r24,r207362 463e B901 movw r22,r187363 4640 20E0 ldi r18,lo8(256)7364 4642 31E0 ldi r19,hi8(256)7365 4644 40E0 ldi r20,hlo8(256)7366 4646 50E0 ldi r21,hhi8(256)7367 4648 0E94 0000 call __divmodsi47368 464c 6901 movw r12,r187369 464e 3093 0000 sts (LageKorrekturNick)+1,r197370 4652 2093 0000 sts LageKorrekturNick,r187371 4656 C201 movw r24,r47372 4658 B101 movw r22,r27373 465a 6619 sub r22,r67374 465c 7709 sbc r23,r77375 465e 8809 sbc r24,r87376 4660 9909 sbc r25,r97377 4662 A801 movw r20,r167378 4664 9701 movw r18,r147379 4666 0E94 0000 call __divmodsi47380 466a CA01 movw r24,r207381 466c B901 movw r22,r187382 466e 20E0 ldi r18,lo8(256)7383 4670 31E0 ldi r19,hi8(256)7384 4672 40E0 ldi r20,hlo8(256)7385 4674 50E0 ldi r21,hhi8(256)7386 4676 0E94 0000 call __divmodsi47387 467a B901 movw r22,r187388 467c 3093 0000 sts (LageKorrekturRoll)+1,r197389 4680 2093 0000 sts LageKorrekturRoll,r187390 4684 8091 0000 lds r24,MaxStickNick7391 4688 9091 0000 lds r25,(MaxStickNick)+17392 468c 8134 cpi r24,657393 468e 9105 cpc r25,__zero_reg__7394 4690 04F4 brge .L8497395 4692 8091 0000 lds r24,MaxStickRoll7396 4696 9091 0000 lds r25,(MaxStickRoll)+17397 469a 8134 cpi r24,657398 469c 9105 cpc r25,__zero_reg__7399 469e 04F4 brge .L8497400 46a0 E091 0000 lds r30,EE_Parameter+37401 46a4 F0E0 ldi r31,lo8(0)7402 46a6 EE0F lsl r307403 46a8 FF1F rol r317404 46aa E050 subi r30,lo8(-(PPM_in))7405 46ac F040 sbci r31,hi8(-(PPM_in))7406 46ae 0190 ld __tmp_reg__,Z+7407 46b0 F081 ld r31,Z7408 46b2 E02D mov r30,__tmp_reg__7409 46b4 F7FD sbrc r31,77410 46b6 00C0 rjmp .L11257411 .L853:7412 46b8 7A97 sbiw r30,267413 46ba 04F0 brlt .L8527414 .L849:7415 46bc 8091 0000 lds r24,FromNaviCtrl_Value7416 46c0 8F3F cpi r24,lo8(-1)7417 46c2 01F4 brne .+27418 46c4 00C0 rjmp .L11267419 .L852:7420 46c6 6091 0000 lds r22,MittelIntegralNick27421 46ca 7091 0000 lds r23,(MittelIntegralNick2)+17422 46ce 8091 0000 lds r24,(MittelIntegralNick2)+27423 46d2 9091 0000 lds r25,(MittelIntegralNick2)+37424 46d6 20E0 ldi r18,lo8(256)7425 46d8 31E0 ldi r19,hi8(256)7426 46da 40E0 ldi r20,hlo8(256)7427 46dc 50E0 ldi r21,hhi8(256)7428 46de 0E94 0000 call __divmodsi47429 46e2 2093 0000 sts MittelIntegralNick2,r187430 46e6 3093 0000 sts (MittelIntegralNick2)+1,r197431 46ea 4093 0000 sts (MittelIntegralNick2)+2,r207432 46ee 5093 0000 sts (MittelIntegralNick2)+3,r217433 46f2 6091 0000 lds r22,MittelIntegralRoll27434 46f6 7091 0000 lds r23,(MittelIntegralRoll2)+17435 46fa 8091 0000 lds r24,(MittelIntegralRoll2)+27436 46fe 9091 0000 lds r25,(MittelIntegralRoll2)+37437 4702 20E0 ldi r18,lo8(256)7438 4704 31E0 ldi r19,hi8(256)7439 4706 40E0 ldi r20,hlo8(256)7440 4708 50E0 ldi r21,hhi8(256)7441 470a 0E94 0000 call __divmodsi47442 470e 2093 0000 sts MittelIntegralRoll2,r187443 4712 3093 0000 sts (MittelIntegralRoll2)+1,r197444 4716 4093 0000 sts (MittelIntegralRoll2)+2,r207445 471a 5093 0000 sts (MittelIntegralRoll2)+3,r217446 471e E9A0 ldd r14,Y+337447 4720 FAA0 ldd r15,Y+347448 4722 0BA1 ldd r16,Y+357449 4724 1CA1 ldd r17,Y+367450 4726 6981 ldd r22,Y+17451 4728 7A81 ldd r23,Y+27452 472a 8B81 ldd r24,Y+37453 472c 9C81 ldd r25,Y+47454 472e E61A sub r14,r227455 4730 F70A sbc r15,r237456 4732 080B sbc r16,r247457 4734 190B sbc r17,r257458 4736 E092 0000 sts tmp_long.3071,r147459 473a F092 0000 sts (tmp_long.3071)+1,r157460 473e 0093 0000 sts (tmp_long.3071)+2,r167461 4742 1093 0000 sts (tmp_long.3071)+3,r177462 4746 AD8C ldd r10,Y+297463 4748 BE8C ldd r11,Y+307464 474a CF8C ldd r12,Y+317465 474c D8A0 ldd r13,Y+327466 474e 8D81 ldd r24,Y+57467 4750 9E81 ldd r25,Y+67468 4752 AF81 ldd r26,Y+77469 4754 B885 ldd r27,Y+87470 4756 A81A sub r10,r247471 4758 B90A sbc r11,r257472 475a CA0A sbc r12,r267473 475c DB0A sbc r13,r277474 475e A092 0000 sts tmp_long2.3072,r107475 4762 B092 0000 sts (tmp_long2.3072)+1,r117476 4766 C092 0000 sts (tmp_long2.3072)+2,r127477 476a D092 0000 sts (tmp_long2.3072)+3,r137478 476e E092 0000 sts IntegralFehlerNick.3073,r147479 4772 F092 0000 sts (IntegralFehlerNick.3073)+1,r157480 4776 0093 0000 sts (IntegralFehlerNick.3073)+2,r167481 477a 1093 0000 sts (IntegralFehlerNick.3073)+3,r177482 477e A092 0000 sts IntegralFehlerRoll.3074,r107483 4782 B092 0000 sts (IntegralFehlerRoll.3074)+1,r117484 4786 C092 0000 sts (IntegralFehlerRoll.3074)+2,r127485 478a D092 0000 sts (IntegralFehlerRoll.3074)+3,r137486 478e 8091 0000 lds r24,Mess_IntegralNick27487 4792 9091 0000 lds r25,(Mess_IntegralNick2)+17488 4796 A091 0000 lds r26,(Mess_IntegralNick2)+27489 479a B091 0000 lds r27,(Mess_IntegralNick2)+37490 479e 8E19 sub r24,r147491 47a0 9F09 sbc r25,r157492 47a2 A00B sbc r26,r167493 47a4 B10B sbc r27,r177494 47a6 8093 0000 sts Mess_IntegralNick2,r247495 47aa 9093 0000 sts (Mess_IntegralNick2)+1,r257496 47ae A093 0000 sts (Mess_IntegralNick2)+2,r267497 47b2 B093 0000 sts (Mess_IntegralNick2)+3,r277498 47b6 8091 0000 lds r24,Mess_IntegralRoll27499 47ba 9091 0000 lds r25,(Mess_IntegralRoll2)+17500 47be A091 0000 lds r26,(Mess_IntegralRoll2)+27501 47c2 B091 0000 lds r27,(Mess_IntegralRoll2)+37502 47c6 8A19 sub r24,r107503 47c8 9B09 sbc r25,r117504 47ca AC09 sbc r26,r127505 47cc BD09 sbc r27,r137506 47ce 8093 0000 sts Mess_IntegralRoll2,r247507 47d2 9093 0000 sts (Mess_IntegralRoll2)+1,r257508 47d6 A093 0000 sts (Mess_IntegralRoll2)+2,r267509 47da B093 0000 sts (Mess_IntegralRoll2)+3,r277510 47de 2091 0000 lds r18,GierGyroFehler7511 47e2 3091 0000 lds r19,(GierGyroFehler)+17512 47e6 2138 cpi r18,1297513 47e8 3105 cpc r19,__zero_reg__7514 47ea 04F0 brlt .L8577515 47ec 8091 0000 lds r24,AdNeutralGier7516 47f0 9091 0000 lds r25,(AdNeutralGier)+17517 47f4 0196 adiw r24,17518 47f6 9093 0000 sts (AdNeutralGier)+1,r257519 47fa 8093 0000 sts AdNeutralGier,r247520 47fe 8091 0000 lds r24,AdNeutralGierBias7521 4802 9091 0000 lds r25,(AdNeutralGierBias)+17522 4806 0196 adiw r24,17523 4808 9093 0000 sts (AdNeutralGierBias)+1,r257524 480c 8093 0000 sts AdNeutralGierBias,r247525 .L857:7526 4810 2058 subi r18,lo8(-128)7527 4812 3F4F sbci r19,hi8(-128)7528 4814 04F4 brge .L8597529 4816 8091 0000 lds r24,AdNeutralGier7530 481a 9091 0000 lds r25,(AdNeutralGier)+17531 481e 0197 sbiw r24,17532 4820 9093 0000 sts (AdNeutralGier)+1,r257533 4824 8093 0000 sts AdNeutralGier,r247534 4828 8091 0000 lds r24,AdNeutralGierBias7535 482c 9091 0000 lds r25,(AdNeutralGierBias)+17536 4830 0197 sbiw r24,17537 4832 9093 0000 sts (AdNeutralGierBias)+1,r257538 4836 8093 0000 sts AdNeutralGierBias,r247539 .L859:7540 483a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__7541 483e 1092 0000 sts GierGyroFehler,__zero_reg__7542 4842 81E0 ldi r24,lo8(1)7543 4844 90E0 ldi r25,hi8(1)7544 4846 9093 0000 sts (cnt.3100)+1,r257545 484a 8093 0000 sts cnt.3100,r247546 484e 8091 0000 lds r24,MittelIntegralNick_Alt.31057547 4852 9091 0000 lds r25,(MittelIntegralNick_Alt.3105)+17548 4856 A091 0000 lds r26,(MittelIntegralNick_Alt.3105)+27549 485a B091 0000 lds r27,(MittelIntegralNick_Alt.3105)+37550 485e 28A5 ldd r18,Y+407551 4860 39A5 ldd r19,Y+417552 4862 4AA5 ldd r20,Y+427553 4864 5BA5 ldd r21,Y+437554 4866 821B sub r24,r187555 4868 930B sbc r25,r197556 486a A40B sbc r26,r207557 486c B50B sbc r27,r217558 486e 815E subi r24,lo8(-(19999))7559 4870 914B sbci r25,hi8(-(19999))7560 4872 AF4F sbci r26,hlo8(-(19999))7561 4874 BF4F sbci r27,hhi8(-(19999))7562 4876 8F53 subi r24,lo8(39999)7563 4878 9C49 sbci r25,hi8(39999)7564 487a A040 sbci r26,hlo8(39999)7565 487c B040 sbci r27,hhi8(39999)7566 487e 00F4 brsh .+27567 4880 00C0 rjmp .L10607568 4882 9090 0000 lds r9,FromNaviCtrl_Value+17569 4886 48E1 ldi r20,lo8(24)7570 4888 4915 cp r20,r97571 488a 04F4 brge .+27572 488c 00C0 rjmp .L8617573 488e 1092 0000 sts (cnt.3100)+1,__zero_reg__7574 4892 1092 0000 sts cnt.3100,__zero_reg__7575 4896 88EE ldi r24,lo8(1000)7576 4898 93E0 ldi r25,hi8(1000)7577 489a 9093 0000 sts (KompassSignalSchlecht)+1,r257578 489e 8093 0000 sts KompassSignalSchlecht,r247579 .L876:7580 48a2 9C8D ldd r25,Y+287581 48a4 692E mov r6,r257582 48a6 7724 clr r77583 48a8 8091 0000 lds r24,cnt.31007584 48ac 9091 0000 lds r25,(cnt.3100)+17585 48b0 6816 cp r6,r247586 48b2 7906 cpc r7,r257587 48b4 04F4 brge .L8777588 48b6 7092 0000 sts (cnt.3100)+1,r77589 48ba 6092 0000 sts cnt.3100,r67590 .L877:7591 48be 9920 tst r97592 48c0 01F0 breq .L8797593 48c2 292D mov r18,r97594 48c4 3327 clr r197595 48c6 27FD sbrc r18,77596 48c8 3095 com r197597 48ca 8091 0000 lds r24,cnt.31007598 48ce 9091 0000 lds r25,(cnt.3100)+17599 48d2 2817 cp r18,r247600 48d4 3907 cpc r19,r257601 48d6 04F4 brge .L8797602 48d8 3093 0000 sts (cnt.3100)+1,r197603 48dc 2093 0000 sts cnt.3100,r187604 .L879:7605 48e0 A1E0 ldi r26,lo8(1025)7606 48e2 EA16 cp r14,r267607 48e4 A4E0 ldi r26,hi8(1025)7608 48e6 FA06 cpc r15,r267609 48e8 A0E0 ldi r26,hlo8(1025)7610 48ea 0A07 cpc r16,r267611 48ec A0E0 ldi r26,hhi8(1025)7612 48ee 1A07 cpc r17,r267613 48f0 04F0 brlt .L8827614 48f2 8091 0000 lds r24,AdNeutralNick7615 48f6 9091 0000 lds r25,(AdNeutralNick)+17616 48fa 2091 0000 lds r18,cnt.31007617 48fe 3091 0000 lds r19,(cnt.3100)+17618 4902 820F add r24,r187619 4904 931F adc r25,r197620 4906 9093 0000 sts (AdNeutralNick)+1,r257621 490a 8093 0000 sts AdNeutralNick,r247622 .L882:7623 490e B0E0 ldi r27,lo8(-1024)7624 4910 EB16 cp r14,r277625 4912 BCEF ldi r27,hi8(-1024)7626 4914 FB06 cpc r15,r277627 4916 BFEF ldi r27,hlo8(-1024)7628 4918 0B07 cpc r16,r277629 491a BFEF ldi r27,hhi8(-1024)7630 491c 1B07 cpc r17,r277631 491e 04F4 brge .L8847632 4920 8091 0000 lds r24,AdNeutralNick7633 4924 9091 0000 lds r25,(AdNeutralNick)+17634 4928 2091 0000 lds r18,cnt.31007635 492c 3091 0000 lds r19,(cnt.3100)+17636 4930 821B sub r24,r187637 4932 930B sbc r25,r197638 4934 9093 0000 sts (AdNeutralNick)+1,r257639 4938 8093 0000 sts AdNeutralNick,r247640 .L884:7641 493c 81E0 ldi r24,lo8(1)7642 493e 90E0 ldi r25,hi8(1)7643 4940 9093 0000 sts (cnt.3100)+1,r257644 4944 8093 0000 sts cnt.3100,r247645 4948 1092 0000 sts ausgleichRoll.3091,__zero_reg__7646 494c 1092 0000 sts (ausgleichRoll.3091)+1,__zero_reg__7647 4950 1092 0000 sts (ausgleichRoll.3091)+2,__zero_reg__7648 4954 1092 0000 sts (ausgleichRoll.3091)+3,__zero_reg__7649 4958 8091 0000 lds r24,MittelIntegralRoll_Alt.31067650 495c 9091 0000 lds r25,(MittelIntegralRoll_Alt.3106)+17651 4960 A091 0000 lds r26,(MittelIntegralRoll_Alt.3106)+27652 4964 B091 0000 lds r27,(MittelIntegralRoll_Alt.3106)+37653 4968 8219 sub r24,r27654 496a 9309 sbc r25,r37655 496c A409 sbc r26,r47656 496e B509 sbc r27,r57657 4970 815E subi r24,lo8(-(19999))7658 4972 914B sbci r25,hi8(-(19999))7659 4974 AF4F sbci r26,hlo8(-(19999))7660 4976 BF4F sbci r27,hhi8(-(19999))7661 4978 8F53 subi r24,lo8(39999)7662 497a 9C49 sbci r25,hi8(39999)7663 497c A040 sbci r26,hlo8(39999)7664 497e B040 sbci r27,hhi8(39999)7665 4980 00F4 brsh .+27666 4982 00C0 rjmp .L8867667 4984 F8E1 ldi r31,lo8(24)7668 4986 F915 cp r31,r97669 4988 04F4 brge .+27670 498a 00C0 rjmp .L8867671 498c 1092 0000 sts (cnt.3100)+1,__zero_reg__7672 4990 1092 0000 sts cnt.3100,__zero_reg__7673 4994 88EE ldi r24,lo8(1000)7674 4996 93E0 ldi r25,hi8(1000)7675 4998 9093 0000 sts (KompassSignalSchlecht)+1,r257676 499c 8093 0000 sts KompassSignalSchlecht,r247677 .L901:7678 49a0 8091 0000 lds r24,cnt.31007679 49a4 9091 0000 lds r25,(cnt.3100)+17680 49a8 6816 cp r6,r247681 49aa 7906 cpc r7,r257682 49ac 04F4 brge .L9027683 49ae 7092 0000 sts (cnt.3100)+1,r77684 49b2 6092 0000 sts cnt.3100,r67685 .L902:7686 49b6 9920 tst r97687 49b8 01F0 breq .L9047688 49ba 292D mov r18,r97689 49bc 3327 clr r197690 49be 27FD sbrc r18,77691 49c0 3095 com r197692 49c2 8091 0000 lds r24,cnt.31007693 49c6 9091 0000 lds r25,(cnt.3100)+17694 49ca 2817 cp r18,r247695 49cc 3907 cpc r19,r257696 49ce 04F4 brge .L9047697 49d0 3093 0000 sts (cnt.3100)+1,r197698 49d4 2093 0000 sts cnt.3100,r187699 .L904:7700 49d8 71E0 ldi r23,lo8(1025)7701 49da A716 cp r10,r237702 49dc 74E0 ldi r23,hi8(1025)7703 49de B706 cpc r11,r237704 49e0 70E0 ldi r23,hlo8(1025)7705 49e2 C706 cpc r12,r237706 49e4 70E0 ldi r23,hhi8(1025)7707 49e6 D706 cpc r13,r237708 49e8 04F0 brlt .L9077709 49ea 8091 0000 lds r24,AdNeutralRoll7710 49ee 9091 0000 lds r25,(AdNeutralRoll)+17711 49f2 2091 0000 lds r18,cnt.31007712 49f6 3091 0000 lds r19,(cnt.3100)+17713 49fa 820F add r24,r187714 49fc 931F adc r25,r197715 49fe 9093 0000 sts (AdNeutralRoll)+1,r257716 4a02 8093 0000 sts AdNeutralRoll,r247717 .L907:7718 4a06 80E0 ldi r24,lo8(-1024)7719 4a08 A816 cp r10,r247720 4a0a 8CEF ldi r24,hi8(-1024)7721 4a0c B806 cpc r11,r247722 4a0e 8FEF ldi r24,hlo8(-1024)7723 4a10 C806 cpc r12,r247724 4a12 8FEF ldi r24,hhi8(-1024)7725 4a14 D806 cpc r13,r247726 4a16 04F0 brlt .+47727 4a18 0C94 0000 jmp .L9097728 4a1c 8091 0000 lds r24,AdNeutralRoll7729 4a20 9091 0000 lds r25,(AdNeutralRoll)+17730 4a24 2091 0000 lds r18,cnt.31007731 4a28 3091 0000 lds r19,(cnt.3100)+17732 4a2c 821B sub r24,r187733 4a2e 930B sbc r25,r197734 4a30 9093 0000 sts (AdNeutralRoll)+1,r257735 4a34 8093 0000 sts AdNeutralRoll,r247736 4a38 0C94 0000 jmp .L9097737 .L1111:7738 4a3c 9701 movw r18,r147739 4a3e 0C94 0000 jmp .L10107740 .L1076:7741 4a42 6801 movw r12,r167742 4a44 0C94 0000 jmp .L9277743 .L1078:7744 4a48 60E0 ldi r22,lo8(0)7745 4a4a 70E0 ldi r23,hi8(0)7746 4a4c 00E0 ldi r16,lo8(0)7747 4a4e 10E0 ldi r17,hi8(0)7748 4a50 0C94 0000 jmp .L9317749 .L982:7750 4a54 8091 0000 lds r24,Parameter_MaxHoehe7751 4a58 8233 cpi r24,lo8(50)7752 4a5a 00F4 brsh .+47753 4a5c 0C94 0000 jmp .L9847754 .L985:7755 4a60 81E0 ldi r24,lo8(1)7756 4a62 8093 0000 sts HoehenReglerAktiv,r247757 4a66 88EC ldi r24,lo8(-56)7758 4a68 8093 0000 sts delay.3113,r247759 4a6c 2091 0000 lds r18,HoehenWert7760 4a70 3091 0000 lds r19,(HoehenWert)+17761 4a74 00C0 rjmp .L9867762 .L1086:7763 4a76 4D5F subi r20,lo8(-(3))7764 4a78 5F4F sbci r21,hi8(-(3))7765 4a7a 0C94 0000 jmp .L7417766 .L1087:7767 4a7e 4D5F subi r20,lo8(-(3))7768 4a80 5F4F sbci r21,hi8(-(3))7769 4a82 0C94 0000 jmp .L7427770 .L1083:7771 4a86 1092 0000 sts SummeNick.3068,__zero_reg__7772 4a8a 1092 0000 sts (SummeNick.3068)+1,__zero_reg__7773 4a8e 1092 0000 sts (SummeNick.3068)+2,__zero_reg__7774 4a92 1092 0000 sts (SummeNick.3068)+3,__zero_reg__7775 4a96 1092 0000 sts SummeRoll.3069,__zero_reg__7776 4a9a 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__7777 4a9e 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__7778 4aa2 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__7779 4aa6 8A3F cpi r24,2507780 4aa8 9105 cpc r25,__zero_reg__7781 4aaa 01F0 breq .+47782 4aac 0C94 0000 jmp .L6827783 4ab0 81E0 ldi r24,lo8(1)7784 4ab2 8093 0000 sts NeueKompassRichtungMerken.3089,r247785 4ab6 1092 0000 sts sollGier.3070,__zero_reg__7786 4aba 1092 0000 sts (sollGier.3070)+1,__zero_reg__7787 4abe 1092 0000 sts (sollGier.3070)+2,__zero_reg__7788 4ac2 1092 0000 sts (sollGier.3070)+3,__zero_reg__7789 4ac6 1092 0000 sts Mess_Integral_Gier,__zero_reg__7790 4aca 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__7791 4ace 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__7792 4ad2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__7793 4ad6 0C94 0000 jmp .L6827794 .L1104:7795 4ada A0E0 ldi r26,lo8(0)7796 4adc 1092 0000 sts Looping_Oben,__zero_reg__7797 4ae0 0C94 0000 jmp .L7887798 .L1106:7799 4ae4 1092 0000 sts Looping_Unten,__zero_reg__7800 4ae8 0C94 0000 jmp .L7947801 .L1102:7802 4aec 1092 0000 sts Looping_Rechts,__zero_reg__7803 4af0 0C94 0000 jmp .L7827804 .L1068:7805 4af4 88E9 ldi r24,lo8(15000)7806 4af6 9AE3 ldi r25,hi8(15000)7807 4af8 9093 0000 sts (beeptime)+1,r257808 4afc 8093 0000 sts beeptime,r247809 4b00 80E0 ldi r24,lo8(3072)7810 4b02 9CE0 ldi r25,hi8(3072)7811 4b04 9093 0000 sts (BeepMuster)+1,r257812 4b08 8093 0000 sts BeepMuster,r247813 4b0c 0C94 0000 jmp .L6627814 .L1075:7815 4b10 D094 com r137816 4b12 C194 neg r127817 4b14 D108 sbc r13,__zero_reg__7818 4b16 D394 inc r137819 4b18 0C94 0000 jmp .L9267820 .L1074:7821 4b1c 1095 com r177822 4b1e 0195 neg r167823 4b20 1F4F sbci r17,lo8(-1)7824 4b22 0C94 0000 jmp .L9257825 .L1077:7826 4b26 8827 clr r247827 4b28 9927 clr r257828 4b2a 8819 sub r24,r87829 4b2c 9909 sbc r25,r97830 4b2e 0C94 0000 jmp .L9297831 .L1110:7832 4b32 3196 adiw r30,17833 4b34 0C94 0000 jmp .L10127834 .L818:7835 4b38 C401 movw r24,r87836 4b3a B301 movw r22,r67837 4b3c 22E0 ldi r18,lo8(2)7838 4b3e 30E0 ldi r19,hi8(2)7839 4b40 40E0 ldi r20,hlo8(2)7840 4b42 50E0 ldi r21,hhi8(2)7841 4b44 0E94 0000 call __divmodsi47842 4b48 3901 movw r6,r187843 4b4a 4A01 movw r8,r207844 4b4c C601 movw r24,r127845 4b4e B501 movw r22,r107846 4b50 22E0 ldi r18,lo8(2)7847 4b52 30E0 ldi r19,hi8(2)7848 4b54 40E0 ldi r20,hlo8(2)7849 4b56 50E0 ldi r21,hhi8(2)7850 4b58 0E94 0000 call __divmodsi47851 4b5c 5901 movw r10,r187852 4b5e 6A01 movw r12,r207853 4b60 00C0 rjmp .L8207854 .L1089:7855 4b62 1092 0000 sts (StickGas)+1,__zero_reg__7856 4b66 1092 0000 sts StickGas,__zero_reg__7857 4b6a 0C94 0000 jmp .L7527858 .L1091:7859 4b6e 9095 com r257860 4b70 8195 neg r247861 4b72 9F4F sbci r25,lo8(-1)7862 4b74 0C94 0000 jmp .L7587863 .L1090:7864 4b78 0396 adiw r24,37865 4b7a 0C94 0000 jmp .L7577866 .L1095:7867 4b7e 0396 adiw r24,37868 4b80 9595 asr r257869 4b82 8795 ror r247870 4b84 9595 asr r257871 4b86 8795 ror r247872 4b88 97FD sbrc r25,77873 4b8a 00C0 rjmp .+47874 4b8c 0C94 0000 jmp .L7667875 .L1096:7876 4b90 9095 com r257877 4b92 8195 neg r247878 4b94 9F4F sbci r25,lo8(-1)7879 4b96 0C94 0000 jmp .L7667880 .L940:7881 4b9a 0894 sec7882 4b9c E108 sbc r14,__zero_reg__7883 4b9e F108 sbc r15,__zero_reg__7884 4ba0 F092 0000 sts (KompassSignalSchlecht)+1,r157885 4ba4 E092 0000 sts KompassSignalSchlecht,r147886 4ba8 0C94 0000 jmp .L9227887 .L1069:7888 4bac 4B2F mov r20,r277889 4bae 50E0 ldi r21,lo8(0)7890 4bb0 5B87 std Y+11,r217891 4bb2 4A87 std Y+10,r207892 4bb4 8091 0000 lds r24,Looping_Nick7893 4bb8 8823 tst r247894 4bba 01F4 brne .+47895 4bbc 0C94 0000 jmp .L8067896 4bc0 0C94 0000 jmp .L8047897 .L731:7898 4bc4 1092 0000 sts delay_einschalten.3077,__zero_reg__7899 4bc8 0C94 0000 jmp .L7337900 .L735:7901 4bcc 1092 0000 sts delay_ausschalten.3078,__zero_reg__7902 4bd0 0C94 0000 jmp .L6747903 .L1121:7904 4bd4 0396 adiw r24,37905 4bd6 00C0 rjmp .L9497906 .L1120:7907 4bd8 0396 adiw r24,37908 4bda 00C0 rjmp .L9487909 .L1098:7910 4bdc 0396 adiw r24,37911 4bde 0C94 0000 jmp .L7697912 .L1097:7913 4be2 9095 com r257914 4be4 8195 neg r247915 4be6 9F4F sbci r25,lo8(-1)7916 4be8 0C94 0000 jmp .L7687917 .L1093:7918 4bec 0396 adiw r24,37919 4bee 0C94 0000 jmp .L7617920 .L1092:7921 4bf2 9095 com r257922 4bf4 8195 neg r247923 4bf6 9F4F sbci r25,lo8(-1)7924 4bf8 0C94 0000 jmp .L7607925 .L938:7926 4bfc 84EF ldi r24,lo8(500)7927 4bfe 91E0 ldi r25,hi8(500)7928 4c00 9093 0000 sts (KompassSignalSchlecht)+1,r257929 4c04 8093 0000 sts KompassSignalSchlecht,r247930 4c08 0C94 0000 jmp .L9227931 .L1081:7932 4c0c 215E subi r18,lo8(-(31))7933 4c0e 3F4F sbci r19,hi8(-(31))7934 4c10 0C94 0000 jmp .L9377935 .L1080:7936 4c14 695F subi r22,lo8(-(7))7937 4c16 7F4F sbci r23,hi8(-(7))7938 4c18 0C94 0000 jmp .L9367939 .L943:7940 4c1c 4427 clr r207941 4c1e 37FD sbrc r19,77942 4c20 4095 com r207943 4c22 542F mov r21,r207944 4c24 8091 0000 lds r24,Mess_Integral_Gier7945 4c28 9091 0000 lds r25,(Mess_Integral_Gier)+17946 4c2c A091 0000 lds r26,(Mess_Integral_Gier)+27947 4c30 B091 0000 lds r27,(Mess_Integral_Gier)+37948 4c34 820F add r24,r187949 4c36 931F adc r25,r197950 4c38 A41F adc r26,r207951 4c3a B51F adc r27,r217952 4c3c 8093 0000 sts Mess_Integral_Gier,r247953 4c40 9093 0000 sts (Mess_Integral_Gier)+1,r257954 4c44 A093 0000 sts (Mess_Integral_Gier)+2,r267955 4c48 B093 0000 sts (Mess_Integral_Gier)+3,r277956 4c4c 0C94 0000 jmp .L9227957 .L687:7958 4c50 8081 ld r24,Z7959 4c52 9181 ldd r25,Z+17960 4c54 855B subi r24,lo8(-75)7961 4c56 9F4F sbci r25,hi8(-75)7962 4c58 04F0 brlt .+27963 4c5a 00C0 rjmp .L7217964 4c5c 8091 0000 lds r24,delay_neutral.30767965 4c60 8F5F subi r24,lo8(-(1))7966 4c62 8093 0000 sts delay_neutral.3076,r247967 4c66 893C cpi r24,lo8(-55)7968 4c68 00F4 brsh .+47969 4c6a 0C94 0000 jmp .L6847970 4c6e 4C30 cpi r20,lo8(12)7971 4c70 00F0 brlo .+27972 4c72 00C0 rjmp .L7247973 4c74 2998 cbi 37-0x20,17974 .L726:7975 4c76 8FEF ldi r24,lo8(-1)7976 4c78 00E0 ldi r16,lo8(EEPromArray+4)7977 4c7a 10E0 ldi r17,hi8(EEPromArray+4)7978 4c7c D801 movw r26,r167979 /* #APP */7980 4c7e 082E mov __tmp_reg__,r247981 4c80 0E94 0000 call __eeprom_write_byte_1F20217982 /* #NOAPP */7983 4c84 1092 0000 sts MotorenEin,__zero_reg__7984 4c88 1092 0000 sts delay_neutral.3076,__zero_reg__7985 4c8c 1092 0000 sts (modell_fliegt)+1,__zero_reg__7986 4c90 1092 0000 sts modell_fliegt,__zero_reg__7987 4c94 0E94 0000 call SetNeutral7988 4c98 8091 0000 lds r24,NeutralAccX7989 4c9c 9091 0000 lds r25,(NeutralAccX)+17990 4ca0 97FD sbrc r25,77991 4ca2 00C0 rjmp .L11277992 .L727:7993 4ca4 892F mov r24,r257994 4ca6 990F lsl r257995 4ca8 990B sbc r25,r257996 4caa D801 movw r26,r167997 /* #APP */7998 4cac 082E mov __tmp_reg__,r247999 4cae 0E94 0000 call __eeprom_write_byte_1F20218000 /* #NOAPP */8001 4cb2 8091 0000 lds r24,NeutralAccX8002 4cb6 9091 0000 lds r25,(NeutralAccX)+18003 4cba 60E0 ldi r22,lo8(256)8004 4cbc 71E0 ldi r23,hi8(256)8005 4cbe 0E94 0000 call __divmodhi48006 4cc2 0F5F subi r16,lo8(-(1))8007 4cc4 1F4F sbci r17,hi8(-(1))8008 4cc6 D801 movw r26,r168009 /* #APP */8010 4cc8 082E mov __tmp_reg__,r248011 4cca 0E94 0000 call __eeprom_write_byte_1F20218012 /* #NOAPP */8013 4cce 0150 subi r16,lo8(-(-1))8014 4cd0 1040 sbci r17,hi8(-(-1))8015 4cd2 2091 0000 lds r18,NeutralAccY8016 4cd6 3091 0000 lds r19,(NeutralAccY)+18017 4cda 37FD sbrc r19,78018 4cdc 00C0 rjmp .L11288019 .L728:8020 4cde 832F mov r24,r198021 4ce0 9927 clr r258022 4ce2 87FD sbrc r24,78023 4ce4 9A95 dec r258024 4ce6 0E5F subi r16,lo8(-(2))8025 4ce8 1F4F sbci r17,hi8(-(2))8026 4cea D801 movw r26,r168027 /* #APP */8028 4cec 082E mov __tmp_reg__,r248029 4cee 0E94 0000 call __eeprom_write_byte_1F20218030 /* #NOAPP */8031 4cf2 8091 0000 lds r24,NeutralAccY8032 4cf6 9091 0000 lds r25,(NeutralAccY)+18033 4cfa 60E0 ldi r22,lo8(256)8034 4cfc 71E0 ldi r23,hi8(256)8035 4cfe 0E94 0000 call __divmodhi48036 4d02 0F5F subi r16,lo8(-(1))8037 4d04 1F4F sbci r17,hi8(-(1))8038 4d06 D801 movw r26,r168039 /* #APP */8040 4d08 082E mov __tmp_reg__,r248041 4d0a 0E94 0000 call __eeprom_write_byte_1F20218042 /* #NOAPP */8043 4d0e 0350 subi r16,lo8(-(-3))8044 4d10 1040 sbci r17,hi8(-(-3))8045 4d12 6091 0000 lds r22,NeutralAccZ8046 4d16 7091 0000 lds r23,(NeutralAccZ)+18047 4d1a 8091 0000 lds r24,(NeutralAccZ)+28048 4d1e 9091 0000 lds r25,(NeutralAccZ)+38049 4d22 0E94 0000 call __fixsfsi8050 4d26 9B01 movw r18,r228051 4d28 77FD sbrc r23,78052 4d2a 00C0 rjmp .L11298053 .L729:8054 4d2c 832F mov r24,r198055 4d2e 9927 clr r258056 4d30 87FD sbrc r24,78057 4d32 9A95 dec r258058 4d34 0C5F subi r16,lo8(-(4))8059 4d36 1F4F sbci r17,hi8(-(4))8060 4d38 D801 movw r26,r168061 /* #APP */8062 4d3a 082E mov __tmp_reg__,r248063 4d3c 0E94 0000 call __eeprom_write_byte_1F20218064 /* #NOAPP */8065 4d40 6091 0000 lds r22,NeutralAccZ8066 4d44 7091 0000 lds r23,(NeutralAccZ)+18067 4d48 8091 0000 lds r24,(NeutralAccZ)+28068 4d4c 9091 0000 lds r25,(NeutralAccZ)+38069 4d50 0E94 0000 call __fixsfsi8070 4d54 DC01 movw r26,r248071 4d56 CB01 movw r24,r228072 4d58 60E0 ldi r22,lo8(256)8073 4d5a 71E0 ldi r23,hi8(256)8074 4d5c 0E94 0000 call __divmodhi48075 4d60 0F5F subi r16,lo8(-(1))8076 4d62 1F4F sbci r17,hi8(-(1))8077 4d64 D801 movw r26,r168078 /* #APP */8079 4d66 082E mov __tmp_reg__,r248080 4d68 0E94 0000 call __eeprom_write_byte_1F20218081 /* #NOAPP */8082 .L1066:8083 4d6c 0E94 0000 call GetActiveParamSetNumber8084 4d70 0E94 0000 call Piep8085 4d74 8091 0000 lds r24,EE_Parameter+28086 4d78 A82F mov r26,r248087 4d7a B0E0 ldi r27,lo8(0)8088 4d7c AA0F lsl r268089 4d7e BB1F rol r278090 4d80 0C94 0000 jmp .L6848091 .L1079:8092 4d84 88EC ldi r24,lo8(200)8093 4d86 90E0 ldi r25,hi8(200)8094 4d88 9093 0000 sts (beeptime)+1,r258095 4d8c 8093 0000 sts beeptime,r248096 4d90 B101 movw r22,r28097 4d92 8827 clr r248098 4d94 77FD sbrc r23,78099 4d96 8095 com r248100 4d98 982F mov r25,r248101 4d9a 2C89 ldd r18,Y+208102 4d9c 3D89 ldd r19,Y+218103 4d9e 4E89 ldd r20,Y+228104 4da0 5F89 ldd r21,Y+238105 4da2 0E94 0000 call __mulsi38106 4da6 2B01 movw r4,r228107 4da8 3C01 movw r6,r248108 4daa 6093 0000 sts ErsatzKompass,r228109 4dae 7093 0000 sts (ErsatzKompass)+1,r238110 4db2 8093 0000 sts (ErsatzKompass)+2,r248111 4db6 9093 0000 sts (ErsatzKompass)+3,r258112 4dba 0E94 0000 call __divmodsi48113 4dbe 3093 0000 sts (KompassStartwert)+1,r198114 4dc2 2093 0000 sts KompassStartwert,r188115 4dc6 1092 0000 sts NeueKompassRichtungMerken.3089,__zero_reg__8116 4dca 0C94 0000 jmp .L9328117 .L1085:8118 4dce 88EC ldi r24,lo8(-56)8119 4dd0 8093 0000 sts delay_einschalten.3077,r248120 4dd4 81E0 ldi r24,lo8(1)8121 4dd6 90E0 ldi r25,hi8(1)8122 4dd8 9093 0000 sts (modell_fliegt)+1,r258123 4ddc 8093 0000 sts modell_fliegt,r248124 4de0 81E0 ldi r24,lo8(1)8125 4de2 8093 0000 sts MotorenEin,r248126 4de6 1092 0000 sts sollGier.3070,__zero_reg__8127 4dea 1092 0000 sts (sollGier.3070)+1,__zero_reg__8128 4dee 1092 0000 sts (sollGier.3070)+2,__zero_reg__8129 4df2 1092 0000 sts (sollGier.3070)+3,__zero_reg__8130 4df6 1092 0000 sts Mess_Integral_Gier,__zero_reg__8131 4dfa 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__8132 4dfe 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__8133 4e02 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__8134 4e06 1092 0000 sts Mess_Integral_Gier2,__zero_reg__8135 4e0a 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__8136 4e0e 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__8137 4e12 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__8138 4e16 E090 0000 lds r14,EE_Parameter+208139 4e1a FF24 clr r158140 4e1c 00E0 ldi r16,lo8(0)8141 4e1e 10E0 ldi r17,hi8(0)8142 4e20 6091 0000 lds r22,Mittelwert_AccNick8143 4e24 7091 0000 lds r23,(Mittelwert_AccNick)+18144 4e28 8827 clr r248145 4e2a 77FD sbrc r23,78146 4e2c 8095 com r248147 4e2e 982F mov r25,r248148 4e30 A801 movw r20,r168149 4e32 9701 movw r18,r148150 4e34 0E94 0000 call __mulsi38151 4e38 6093 0000 sts Mess_IntegralNick,r228152 4e3c 7093 0000 sts (Mess_IntegralNick)+1,r238153 4e40 8093 0000 sts (Mess_IntegralNick)+2,r248154 4e44 9093 0000 sts (Mess_IntegralNick)+3,r258155 4e48 6091 0000 lds r22,Mittelwert_AccRoll8156 4e4c 7091 0000 lds r23,(Mittelwert_AccRoll)+18157 4e50 8827 clr r248158 4e52 77FD sbrc r23,78159 4e54 8095 com r248160 4e56 982F mov r25,r248161 4e58 0E94 0000 call __mulsi38162 4e5c 6093 0000 sts Mess_IntegralRoll,r228163 4e60 7093 0000 sts (Mess_IntegralRoll)+1,r238164 4e64 8093 0000 sts (Mess_IntegralRoll)+2,r248165 4e68 9093 0000 sts (Mess_IntegralRoll)+3,r258166 4e6c 8091 0000 lds r24,IntegralNick8167 4e70 9091 0000 lds r25,(IntegralNick)+18168 4e74 A091 0000 lds r26,(IntegralNick)+28169 4e78 B091 0000 lds r27,(IntegralNick)+38170 4e7c 8093 0000 sts Mess_IntegralNick2,r248171 4e80 9093 0000 sts (Mess_IntegralNick2)+1,r258172 4e84 A093 0000 sts (Mess_IntegralNick2)+2,r268173 4e88 B093 0000 sts (Mess_IntegralNick2)+3,r278174 4e8c 8091 0000 lds r24,IntegralRoll8175 4e90 9091 0000 lds r25,(IntegralRoll)+18176 4e94 A091 0000 lds r26,(IntegralRoll)+28177 4e98 B091 0000 lds r27,(IntegralRoll)+38178 4e9c 8093 0000 sts Mess_IntegralRoll2,r248179 4ea0 9093 0000 sts (Mess_IntegralRoll2)+1,r258180 4ea4 A093 0000 sts (Mess_IntegralRoll2)+2,r268181 4ea8 B093 0000 sts (Mess_IntegralRoll2)+3,r278182 4eac 1092 0000 sts SummeNick.3068,__zero_reg__8183 4eb0 1092 0000 sts (SummeNick.3068)+1,__zero_reg__8184 4eb4 1092 0000 sts (SummeNick.3068)+2,__zero_reg__8185 4eb8 1092 0000 sts (SummeNick.3068)+3,__zero_reg__8186 4ebc 1092 0000 sts SummeRoll.3069,__zero_reg__8187 4ec0 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__8188 4ec4 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__8189 4ec8 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__8190 4ecc 8091 0000 lds r24,MikroKopterFlags8191 4ed0 8860 ori r24,lo8(8)8192 4ed2 8093 0000 sts MikroKopterFlags,r248193 4ed6 0C94 0000 jmp .L7338194 .L1003:8195 4eda ADA5 ldd r26,Y+458196 4edc BEA5 ldd r27,Y+468197 4ede B093 0000 sts (hoehenregler.3079)+1,r278198 4ee2 A093 0000 sts hoehenregler.3079,r268199 4ee6 0C94 0000 jmp .L10058200 .L816:8201 4eea E090 0000 lds r14,EE_Parameter+208202 4eee FF24 clr r158203 4ef0 00E0 ldi r16,lo8(0)8204 4ef2 10E0 ldi r17,hi8(0)8205 4ef4 6981 ldd r22,Y+18206 4ef6 7A81 ldd r23,Y+28207 4ef8 8B81 ldd r24,Y+38208 4efa 9C81 ldd r25,Y+48209 4efc A801 movw r20,r168210 4efe 9701 movw r18,r148211 4f00 0E94 0000 call __divmodsi48212 4f04 5901 movw r10,r188213 4f06 6A01 movw r12,r208214 4f08 8091 0000 lds r24,Mittelwert_AccNick8215 4f0c 9091 0000 lds r25,(Mittelwert_AccNick)+18216 4f10 AA27 clr r268217 4f12 97FD sbrc r25,78218 4f14 A095 com r268219 4f16 BA2F mov r27,r268220 4f18 A81A sub r10,r248221 4f1a B90A sbc r11,r258222 4f1c CA0A sbc r12,r268223 4f1e DB0A sbc r13,r278224 4f20 6D81 ldd r22,Y+58225 4f22 7E81 ldd r23,Y+68226 4f24 8F81 ldd r24,Y+78227 4f26 9885 ldd r25,Y+88228 4f28 A801 movw r20,r168229 4f2a 9701 movw r18,r148230 4f2c 0E94 0000 call __divmodsi48231 4f30 7901 movw r14,r188232 4f32 8A01 movw r16,r208233 4f34 8091 0000 lds r24,Mittelwert_AccRoll8234 4f38 9091 0000 lds r25,(Mittelwert_AccRoll)+18235 4f3c AA27 clr r268236 4f3e 97FD sbrc r25,78237 4f40 A095 com r268238 4f42 BA2F mov r27,r268239 4f44 E81A sub r14,r248240 4f46 F90A sbc r15,r258241 4f48 0A0B sbc r16,r268242 4f4a 1B0B sbc r17,r278243 4f4c C601 movw r24,r128244 4f4e B501 movw r22,r108245 4f50 20E1 ldi r18,lo8(16)8246 4f52 30E0 ldi r19,hi8(16)8247 4f54 40E0 ldi r20,hlo8(16)8248 4f56 50E0 ldi r21,hhi8(16)8249 4f58 0E94 0000 call __divmodsi48250 4f5c 3901 movw r6,r188251 4f5e 4A01 movw r8,r208252 4f60 C801 movw r24,r168253 4f62 B701 movw r22,r148254 4f64 20E1 ldi r18,lo8(16)8255 4f66 30E0 ldi r19,hi8(16)8256 4f68 40E0 ldi r20,hlo8(16)8257 4f6a 50E0 ldi r21,hhi8(16)8258 4f6c 0E94 0000 call __divmodsi48259 4f70 5901 movw r10,r188260 4f72 6A01 movw r12,r208261 4f74 8091 0000 lds r24,MaxStickNick8262 4f78 9091 0000 lds r25,(MaxStickNick)+18263 4f7c 8134 cpi r24,658264 4f7e 9105 cpc r25,__zero_reg__8265 4f80 04F4 brge .L8298266 4f82 8091 0000 lds r24,MaxStickRoll8267 4f86 9091 0000 lds r25,(MaxStickRoll)+18268 4f8a 8134 cpi r24,658269 4f8c 9105 cpc r25,__zero_reg__8270 4f8e 04F0 brlt .L8318271 .L829:8272 4f90 C401 movw r24,r88273 4f92 B301 movw r22,r68274 4f94 23E0 ldi r18,lo8(3)8275 4f96 30E0 ldi r19,hi8(3)8276 4f98 40E0 ldi r20,hlo8(3)8277 4f9a 50E0 ldi r21,hhi8(3)8278 4f9c 0E94 0000 call __divmodsi48279 4fa0 3901 movw r6,r188280 4fa2 4A01 movw r8,r208281 4fa4 C601 movw r24,r128282 4fa6 B501 movw r22,r108283 4fa8 23E0 ldi r18,lo8(3)8284 4faa 30E0 ldi r19,hi8(3)8285 4fac 40E0 ldi r20,hlo8(3)8286 4fae 50E0 ldi r21,hhi8(3)8287 4fb0 0E94 0000 call __divmodsi48288 4fb4 5901 movw r10,r188289 4fb6 6A01 movw r12,r208290 .L831:8291 4fb8 E091 0000 lds r30,EE_Parameter+38292 4fbc F0E0 ldi r31,lo8(0)8293 4fbe EE0F lsl r308294 4fc0 FF1F rol r318295 4fc2 E050 subi r30,lo8(-(PPM_in))8296 4fc4 F040 sbci r31,hi8(-(PPM_in))8297 4fc6 0190 ld __tmp_reg__,Z+8298 4fc8 F081 ld r31,Z8299 4fca E02D mov r30,__tmp_reg__8300 4fcc F7FD sbrc r31,78301 4fce 00C0 rjmp .L11308302 .L833:8303 4fd0 7A97 sbiw r30,268304 4fd2 04F0 brlt .L8328305 4fd4 C401 movw r24,r88306 4fd6 B301 movw r22,r68307 4fd8 23E0 ldi r18,lo8(3)8308 4fda 30E0 ldi r19,hi8(3)8309 4fdc 40E0 ldi r20,hlo8(3)8310 4fde 50E0 ldi r21,hhi8(3)8311 4fe0 0E94 0000 call __divmodsi48312 4fe4 3901 movw r6,r188313 4fe6 4A01 movw r8,r208314 4fe8 C601 movw r24,r128315 4fea B501 movw r22,r108316 4fec 23E0 ldi r18,lo8(3)8317 4fee 30E0 ldi r19,hi8(3)8318 4ff0 40E0 ldi r20,hlo8(3)8319 4ff2 50E0 ldi r21,hhi8(3)8320 4ff4 0E94 0000 call __divmodsi48321 4ff8 5901 movw r10,r188322 4ffa 6A01 movw r12,r208323 .L832:8324 4ffc 71E2 ldi r23,lo8(33)8325 4ffe 6716 cp r6,r238326 5000 7104 cpc r7,__zero_reg__8327 5002 8104 cpc r8,__zero_reg__8328 5004 9104 cpc r9,__zero_reg__8329 5006 04F4 brge .+28330 5008 00C0 rjmp .L8358331 500a 80E2 ldi r24,lo8(32)8332 500c 682E mov r6,r248333 500e 712C mov r7,__zero_reg__8334 5010 812C mov r8,__zero_reg__8335 5012 912C mov r9,__zero_reg__8336 .L837:8337 5014 91E2 ldi r25,lo8(33)8338 5016 A916 cp r10,r258339 5018 B104 cpc r11,__zero_reg__8340 501a C104 cpc r12,__zero_reg__8341 501c D104 cpc r13,__zero_reg__8342 501e 04F4 brge .+28343 5020 00C0 rjmp .L8398344 5022 10E2 ldi r17,lo8(32)8345 5024 A12E mov r10,r178346 5026 B12C mov r11,__zero_reg__8347 5028 C12C mov r12,__zero_reg__8348 502a D12C mov r13,__zero_reg__8349 502c 00C0 rjmp .L8278350 .L1109:8351 502e 8091 0000 lds r24,MessLuftdruck8352 5032 9091 0000 lds r25,(MessLuftdruck)+18353 5036 895E subi r24,lo8(1001)8354 5038 9340 sbci r25,hi8(1001)8355 503a 00F4 brsh .+28356 503c 00C0 rjmp .L9888357 503e 9091 0000 lds r25,ExpandBaro8358 5042 9A50 subi r25,lo8(-(-10))8359 .L1067:8360 5044 9093 0000 sts ExpandBaro,r258361 5048 8091 0000 lds r24,DruckOffsetSetting8362 504c 891B sub r24,r258363 504e 87BD out 71-0x20,r248364 5050 8CE2 ldi r24,lo8(300)8365 5052 91E0 ldi r25,hi8(300)8366 5054 9093 0000 sts (beeptime)+1,r258367 5058 8093 0000 sts beeptime,r248368 505c 8AEF ldi r24,lo8(-6)8369 505e 8093 0000 sts delay.3113,r248370 5062 2091 0000 lds r18,HoehenWert8371 5066 3091 0000 lds r19,(HoehenWert)+18372 506a 00C0 rjmp .L9868373 .L1122:8374 506c 0396 adiw r24,38375 506e 00C0 rjmp .L9968376 .L1124:8377 5070 215F subi r18,lo8(-(15))8378 5072 3F4F sbci r19,hi8(-(15))8379 5074 00C0 rjmp .L10008380 .L1123:8381 5076 2F5F subi r18,lo8(-(1))8382 5078 3F4F sbci r19,hi8(-(1))8383 507a 00C0 rjmp .L9988384 .L886:8385 507c 21E0 ldi r18,lo8(4097)8386 507e A216 cp r10,r188387 5080 20E1 ldi r18,hi8(4097)8388 5082 B206 cpc r11,r188389 5084 20E0 ldi r18,hlo8(4097)8390 5086 C206 cpc r12,r188391 5088 20E0 ldi r18,hhi8(4097)8392 508a D206 cpc r13,r188393 508c 04F4 brge .+28394 508e 00C0 rjmp .L8898395 5090 8091 0000 lds r24,last_r_p.31038396 5094 8823 tst r248397 5096 01F4 brne .+28398 5098 00C0 rjmp .L8918399 509a D601 movw r26,r128400 509c C501 movw r24,r108401 509e 49E0 ldi r20,98402 50a0 B595 1: asr r278403 50a2 A795 ror r268404 50a4 9795 ror r258405 50a6 8795 ror r248406 50a8 4A95 dec r208407 50aa 01F4 brne 1b8408 50ac 0196 adiw r24,18409 50ae 9093 0000 sts (cnt.3100)+1,r258410 50b2 8093 0000 sts cnt.3100,r248411 50b6 D601 movw r26,r128412 50b8 C501 movw r24,r108413 50ba 33E0 ldi r19,38414 50bc B595 1: asr r278415 50be A795 ror r268416 50c0 9795 ror r258417 50c2 8795 ror r248418 50c4 3A95 dec r198419 50c6 01F4 brne 1b8420 50c8 8093 0000 sts ausgleichRoll.3091,r248421 50cc 9093 0000 sts (ausgleichRoll.3091)+1,r258422 50d0 A093 0000 sts (ausgleichRoll.3091)+2,r268423 50d4 B093 0000 sts (ausgleichRoll.3091)+3,r278424 50d8 8958 subi r24,lo8(5001)8425 50da 9341 sbci r25,hi8(5001)8426 50dc A040 sbci r26,hlo8(5001)8427 50de B040 sbci r27,hhi8(5001)8428 50e0 04F0 brlt .L8938429 50e2 88E8 ldi r24,lo8(5000)8430 50e4 93E1 ldi r25,hi8(5000)8431 50e6 A0E0 ldi r26,hlo8(5000)8432 50e8 B0E0 ldi r27,hhi8(5000)8433 50ea 8093 0000 sts ausgleichRoll.3091,r248434 50ee 9093 0000 sts (ausgleichRoll.3091)+1,r258435 50f2 A093 0000 sts (ausgleichRoll.3091)+2,r268436 50f6 B093 0000 sts (ausgleichRoll.3091)+3,r278437 .L893:8438 50fa 6091 0000 lds r22,ausgleichRoll.30918439 50fe 7091 0000 lds r23,(ausgleichRoll.3091)+18440 5102 8091 0000 lds r24,(ausgleichRoll.3091)+28441 5106 9091 0000 lds r25,(ausgleichRoll.3091)+38442 510a 20E0 ldi r18,lo8(256)8443 510c 31E0 ldi r19,hi8(256)8444 510e 40E0 ldi r20,hlo8(256)8445 5110 50E0 ldi r21,hhi8(256)8446 5112 0E94 0000 call __divmodsi48447 5116 8091 0000 lds r24,LageKorrekturRoll8448 511a 9091 0000 lds r25,(LageKorrekturRoll)+18449 511e 820F add r24,r188450 5120 931F adc r25,r198451 5122 9093 0000 sts (LageKorrekturRoll)+1,r258452 5126 8093 0000 sts LageKorrekturRoll,r248453 .L895:8454 512a 1092 0000 sts last_r_n.3104,__zero_reg__8455 512e 00C0 rjmp .L9018456 .L1060:8457 5130 9090 0000 lds r9,FromNaviCtrl_Value+18458 .L861:8459 5134 51E0 ldi r21,lo8(4097)8460 5136 E516 cp r14,r218461 5138 50E1 ldi r21,hi8(4097)8462 513a F506 cpc r15,r218463 513c 50E0 ldi r21,hlo8(4097)8464 513e 0507 cpc r16,r218465 5140 50E0 ldi r21,hhi8(4097)8466 5142 1507 cpc r17,r218467 5144 04F4 brge .+28468 5146 00C0 rjmp .L8648469 5148 8091 0000 lds r24,last_n_p.31018470 514c 8823 tst r248471 514e 01F4 brne .+28472 5150 00C0 rjmp .L8668473 5152 D801 movw r26,r168474 5154 C701 movw r24,r148475 5156 79E0 ldi r23,98476 5158 B595 1: asr r278477 515a A795 ror r268478 515c 9795 ror r258479 515e 8795 ror r248480 5160 7A95 dec r238481 5162 01F4 brne 1b8482 5164 0196 adiw r24,18483 5166 9093 0000 sts (cnt.3100)+1,r258484 516a 8093 0000 sts cnt.3100,r248485 516e D801 movw r26,r168486 5170 C701 movw r24,r148487 5172 63E0 ldi r22,38488 5174 B595 1: asr r278489 5176 A795 ror r268490 5178 9795 ror r258491 517a 8795 ror r248492 517c 6A95 dec r228493 517e 01F4 brne 1b8494 5180 8093 0000 sts ausgleichNick.3090,r248495 5184 9093 0000 sts (ausgleichNick.3090)+1,r258496 5188 A093 0000 sts (ausgleichNick.3090)+2,r268497 518c B093 0000 sts (ausgleichNick.3090)+3,r278498 5190 8958 subi r24,lo8(5001)8499 5192 9341 sbci r25,hi8(5001)8500 5194 A040 sbci r26,hlo8(5001)8501 5196 B040 sbci r27,hhi8(5001)8502 5198 04F0 brlt .L8688503 519a 88E8 ldi r24,lo8(5000)8504 519c 93E1 ldi r25,hi8(5000)8505 519e A0E0 ldi r26,hlo8(5000)8506 51a0 B0E0 ldi r27,hhi8(5000)8507 51a2 8093 0000 sts ausgleichNick.3090,r248508 51a6 9093 0000 sts (ausgleichNick.3090)+1,r258509 51aa A093 0000 sts (ausgleichNick.3090)+2,r268510 51ae B093 0000 sts (ausgleichNick.3090)+3,r278511 .L868:8512 51b2 6091 0000 lds r22,ausgleichNick.30908513 51b6 7091 0000 lds r23,(ausgleichNick.3090)+18514 51ba 8091 0000 lds r24,(ausgleichNick.3090)+28515 51be 9091 0000 lds r25,(ausgleichNick.3090)+38516 51c2 20E0 ldi r18,lo8(256)8517 51c4 31E0 ldi r19,hi8(256)8518 51c6 40E0 ldi r20,hlo8(256)8519 51c8 50E0 ldi r21,hhi8(256)8520 51ca 0E94 0000 call __divmodsi48521 51ce 8091 0000 lds r24,LageKorrekturNick8522 51d2 9091 0000 lds r25,(LageKorrekturNick)+18523 51d6 820F add r24,r188524 51d8 931F adc r25,r198525 51da 9093 0000 sts (LageKorrekturNick)+1,r258526 51de 8093 0000 sts LageKorrekturNick,r248527 .L870:8528 51e2 1092 0000 sts last_n_n.3102,__zero_reg__8529 51e6 00C0 rjmp .L8768530 .L1119:8531 51e8 F095 com r318532 51ea E195 neg r308533 51ec FF4F sbci r31,lo8(-1)8534 51ee 0C94 0000 jmp .L8228535 .L839:8536 51f2 A0EE ldi r26,lo8(-32)8537 51f4 AA16 cp r10,r268538 51f6 AFEF ldi r26,hi8(-32)8539 51f8 BA06 cpc r11,r268540 51fa AFEF ldi r26,hlo8(-32)8541 51fc CA06 cpc r12,r268542 51fe AFEF ldi r26,hhi8(-32)8543 5200 DA06 cpc r13,r268544 5202 04F0 brlt .+48545 5204 0C94 0000 jmp .L8278546 5208 B0EE ldi r27,lo8(-32)8547 520a AB2E mov r10,r278548 520c BFEF ldi r27,hi8(-32)8549 520e BB2E mov r11,r278550 5210 BFEF ldi r27,hlo8(-32)8551 5212 CB2E mov r12,r278552 5214 BFEF ldi r27,hhi8(-32)8553 5216 DB2E mov r13,r278554 5218 0C94 0000 jmp .L8278555 .L835:8556 521c 80EE ldi r24,lo8(-32)8557 521e 6816 cp r6,r248558 5220 8FEF ldi r24,hi8(-32)8559 5222 7806 cpc r7,r248560 5224 8FEF ldi r24,hlo8(-32)8561 5226 8806 cpc r8,r248562 5228 8FEF ldi r24,hhi8(-32)8563 522a 9806 cpc r9,r248564 522c 04F0 brlt .+28565 522e 00C0 rjmp .L8378566 5230 00EE ldi r16,lo8(-32)8567 5232 602E mov r6,r168568 5234 0FEF ldi r16,hi8(-32)8569 5236 702E mov r7,r168570 5238 0FEF ldi r16,hlo8(-32)8571 523a 802E mov r8,r168572 523c 0FEF ldi r16,hhi8(-32)8573 523e 902E mov r9,r168574 5240 00C0 rjmp .L8378575 .L1082:8576 5242 87E0 ldi r24,lo8(7)8577 5244 90E0 ldi r25,hi8(7)8578 5246 680E add r6,r248579 5248 791E adc r7,r258580 524a 0C94 0000 jmp .L9428581 .L988:8582 524e 8091 0000 lds r24,MessLuftdruck8583 5252 9091 0000 lds r25,(MessLuftdruck)+18584 5256 8436 cpi r24,1008585 5258 9105 cpc r25,__zero_reg__8586 525a 00F0 brlo .+28587 525c 00C0 rjmp .L9908588 525e 9091 0000 lds r25,ExpandBaro8589 5262 965F subi r25,lo8(-(10))8590 5264 00C0 rjmp .L10678591 .L721:8592 5266 1092 0000 sts delay_neutral.3076,__zero_reg__8593 526a 0C94 0000 jmp .L6848594 .L864:8595 526e 1092 0000 sts last_n_p.3101,__zero_reg__8596 5272 70E0 ldi r23,lo8(-4096)8597 5274 E716 cp r14,r238598 5276 70EF ldi r23,hi8(-4096)8599 5278 F706 cpc r15,r238600 527a 7FEF ldi r23,hlo8(-4096)8601 527c 0707 cpc r16,r238602 527e 7FEF ldi r23,hhi8(-4096)8603 5280 1707 cpc r17,r238604 5282 04F0 brlt .+28605 5284 00C0 rjmp .L8708606 5286 8091 0000 lds r24,last_n_n.31028607 528a 8823 tst r248608 528c 01F4 brne .+28609 528e 00C0 rjmp .L8728610 5290 8827 clr r248611 5292 9927 clr r258612 5294 DC01 movw r26,r248613 5296 8E19 sub r24,r148614 5298 9F09 sbc r25,r158615 529a A00B sbc r26,r168616 529c B10B sbc r27,r178617 529e 59E0 ldi r21,98618 52a0 B595 1: asr r278619 52a2 A795 ror r268620 52a4 9795 ror r258621 52a6 8795 ror r248622 52a8 5A95 dec r218623 52aa 01F4 brne 1b8624 52ac 0196 adiw r24,18625 52ae 9093 0000 sts (cnt.3100)+1,r258626 52b2 8093 0000 sts cnt.3100,r248627 52b6 C801 movw r24,r168628 52b8 B701 movw r22,r148629 52ba 28E0 ldi r18,lo8(8)8630 52bc 30E0 ldi r19,hi8(8)8631 52be 40E0 ldi r20,hlo8(8)8632 52c0 50E0 ldi r21,hhi8(8)8633 52c2 0E94 0000 call __divmodsi48634 52c6 2093 0000 sts ausgleichNick.3090,r188635 52ca 3093 0000 sts (ausgleichNick.3090)+1,r198636 52ce 4093 0000 sts (ausgleichNick.3090)+2,r208637 52d2 5093 0000 sts (ausgleichNick.3090)+3,r218638 52d6 2857 subi r18,lo8(-5000)8639 52d8 3C4E sbci r19,hi8(-5000)8640 52da 4F4F sbci r20,hlo8(-5000)8641 52dc 5F4F sbci r21,hhi8(-5000)8642 52de 04F4 brge .L8748643 52e0 88E7 ldi r24,lo8(-5000)8644 52e2 9CEE ldi r25,hi8(-5000)8645 52e4 AFEF ldi r26,hlo8(-5000)8646 52e6 BFEF ldi r27,hhi8(-5000)8647 52e8 8093 0000 sts ausgleichNick.3090,r248648 52ec 9093 0000 sts (ausgleichNick.3090)+1,r258649 52f0 A093 0000 sts (ausgleichNick.3090)+2,r268650 52f4 B093 0000 sts (ausgleichNick.3090)+3,r278651 .L874:8652 52f8 6091 0000 lds r22,ausgleichNick.30908653 52fc 7091 0000 lds r23,(ausgleichNick.3090)+18654 5300 8091 0000 lds r24,(ausgleichNick.3090)+28655 5304 9091 0000 lds r25,(ausgleichNick.3090)+38656 5308 20E0 ldi r18,lo8(256)8657 530a 31E0 ldi r19,hi8(256)8658 530c 40E0 ldi r20,hlo8(256)8659 530e 50E0 ldi r21,hhi8(256)8660 5310 0E94 0000 call __divmodsi48661 5314 8091 0000 lds r24,LageKorrekturNick8662 5318 9091 0000 lds r25,(LageKorrekturNick)+18663 531c 820F add r24,r188664 531e 931F adc r25,r198665 5320 9093 0000 sts (LageKorrekturNick)+1,r258666 5324 8093 0000 sts LageKorrekturNick,r248667 5328 00C0 rjmp .L8768668 .L889:8669 532a 1092 0000 sts last_r_p.3103,__zero_reg__8670 532e 40E0 ldi r20,lo8(-4096)8671 5330 A416 cp r10,r208672 5332 40EF ldi r20,hi8(-4096)8673 5334 B406 cpc r11,r208674 5336 4FEF ldi r20,hlo8(-4096)8675 5338 C406 cpc r12,r208676 533a 4FEF ldi r20,hhi8(-4096)8677 533c D406 cpc r13,r208678 533e 04F0 brlt .+28679 5340 00C0 rjmp .L8958680 5342 8091 0000 lds r24,last_r_n.31048681 5346 8823 tst r248682 5348 01F4 brne .+28683 534a 00C0 rjmp .L8978684 534c 8827 clr r248685 534e 9927 clr r258686 5350 DC01 movw r26,r248687 5352 8A19 sub r24,r108688 5354 9B09 sbc r25,r118689 5356 AC09 sbc r26,r128690 5358 BD09 sbc r27,r138691 535a 29E0 ldi r18,98692 535c B595 1: asr r278693 535e A795 ror r268694 5360 9795 ror r258695 5362 8795 ror r248696 5364 2A95 dec r188697 5366 01F4 brne 1b8698 5368 0196 adiw r24,18699 536a 9093 0000 sts (cnt.3100)+1,r258700 536e 8093 0000 sts cnt.3100,r248701 5372 C601 movw r24,r128702 5374 B501 movw r22,r108703 5376 28E0 ldi r18,lo8(8)8704 5378 30E0 ldi r19,hi8(8)8705 537a 40E0 ldi r20,hlo8(8)8706 537c 50E0 ldi r21,hhi8(8)8707 537e 0E94 0000 call __divmodsi48708 5382 2093 0000 sts ausgleichRoll.3091,r188709 5386 3093 0000 sts (ausgleichRoll.3091)+1,r198710 538a 4093 0000 sts (ausgleichRoll.3091)+2,r208711 538e 5093 0000 sts (ausgleichRoll.3091)+3,r218712 5392 2857 subi r18,lo8(-5000)8713 5394 3C4E sbci r19,hi8(-5000)8714 5396 4F4F sbci r20,hlo8(-5000)8715 5398 5F4F sbci r21,hhi8(-5000)8716 539a 04F4 brge .L8998717 539c 88E7 ldi r24,lo8(-5000)8718 539e 9CEE ldi r25,hi8(-5000)8719 53a0 AFEF ldi r26,hlo8(-5000)8720 53a2 BFEF ldi r27,hhi8(-5000)8721 53a4 8093 0000 sts ausgleichRoll.3091,r248722 53a8 9093 0000 sts (ausgleichRoll.3091)+1,r258723 53ac A093 0000 sts (ausgleichRoll.3091)+2,r268724 53b0 B093 0000 sts (ausgleichRoll.3091)+3,r278725 .L899:8726 53b4 6091 0000 lds r22,ausgleichRoll.30918727 53b8 7091 0000 lds r23,(ausgleichRoll.3091)+18728 53bc 8091 0000 lds r24,(ausgleichRoll.3091)+28729 53c0 9091 0000 lds r25,(ausgleichRoll.3091)+38730 53c4 20E0 ldi r18,lo8(256)8731 53c6 31E0 ldi r19,hi8(256)8732 53c8 40E0 ldi r20,hlo8(256)8733 53ca 50E0 ldi r21,hhi8(256)8734 53cc 0E94 0000 call __divmodsi48735 53d0 8091 0000 lds r24,LageKorrekturRoll8736 53d4 9091 0000 lds r25,(LageKorrekturRoll)+18737 53d8 820F add r24,r188738 53da 931F adc r25,r198739 53dc 9093 0000 sts (LageKorrekturRoll)+1,r258740 53e0 8093 0000 sts LageKorrekturRoll,r248741 53e4 00C0 rjmp .L9018742 .L713:8743 53e6 0E94 0000 call GetActiveParamSetNumber8744 53ea 4CE5 ldi r20,lo8(92)8745 53ec 60E0 ldi r22,lo8(EE_Parameter)8746 53ee 70E0 ldi r23,hi8(EE_Parameter)8747 53f0 0E94 0000 call ReadParameterSet8748 53f4 8091 0000 lds r24,EE_Parameter+88749 53f8 80FF sbrs r24,08750 53fa 00C0 rjmp .L7178751 53fc 8091 0000 lds r24,MessLuftdruck8752 5400 9091 0000 lds r25,(MessLuftdruck)+18753 5404 875B subi r24,lo8(951)8754 5406 9340 sbci r25,hi8(951)8755 5408 00F4 brsh .L7198756 540a 8091 0000 lds r24,MessLuftdruck8757 540e 9091 0000 lds r25,(MessLuftdruck)+18758 5412 8E5E subi r24,lo8(750)8759 5414 9240 sbci r25,hi8(750)8760 5416 00F4 brsh .L7178761 .L719:8762 5418 0E94 0000 call SucheLuftruckOffset8763 .L717:8764 541c 0E94 0000 call SetNeutral8765 5420 00C0 rjmp .L10668766 .L1130:8767 5422 F095 com r318768 5424 E195 neg r308769 5426 FF4F sbci r31,lo8(-1)8770 5428 00C0 rjmp .L8338771 .L990:8772 542a 2091 0000 lds r18,HoehenWert8773 542e 3091 0000 lds r19,(HoehenWert)+18774 5432 2451 subi r18,lo8(-(-20))8775 5434 3040 sbci r19,hi8(-(-20))8776 5436 3093 0000 sts (SollHoehe)+1,r198777 543a 2093 0000 sts SollHoehe,r188778 543e 2C5E subi r18,lo8(-(20))8779 5440 3F4F sbci r19,hi8(-(20))8780 5442 1092 0000 sts HoehenReglerAktiv,__zero_reg__8781 5446 81E0 ldi r24,lo8(1)8782 5448 8093 0000 sts delay.3113,r248783 544c 0C94 0000 jmp .L9868784 .L700:8785 5450 41E0 ldi r20,lo8(1)8786 5452 0C94 0000 jmp .L7038787 .L1126:8788 5456 9601 movw r18,r128789 5458 D7FC sbrc r13,78790 545a 00C0 rjmp .L11318791 .L855:8792 545c 3595 asr r198793 545e 2795 ror r188794 5460 3093 0000 sts (LageKorrekturNick)+1,r198795 5464 2093 0000 sts LageKorrekturNick,r188796 5468 9B01 movw r18,r228797 546a 77FD sbrc r23,78798 546c 00C0 rjmp .L11328799 .L856:8800 546e 3595 asr r198801 5470 2795 ror r188802 5472 3093 0000 sts (LageKorrekturRoll)+1,r198803 5476 2093 0000 sts LageKorrekturRoll,r188804 547a 00C0 rjmp .L8528805 .L693:8806 547c 8091 0000 lds r24,EE_Parameter+18807 5480 A82F mov r26,r248808 5482 B0E0 ldi r27,lo8(0)8809 5484 AA0F lsl r268810 5486 BB1F rol r278811 5488 FD01 movw r30,r268812 548a E050 subi r30,lo8(-(PPM_in))8813 548c F040 sbci r31,hi8(-(PPM_in))8814 548e 0190 ld __tmp_reg__,Z+8815 5490 F081 ld r31,Z8816 5492 E02D mov r30,__tmp_reg__8817 5494 F7FD sbrc r31,78818 5496 00C0 rjmp .L11338819 .L697:8820 5498 E734 cpi r30,718821 549a F105 cpc r31,__zero_reg__8822 549c 04F4 brge .+48823 549e 0C94 0000 jmp .L6968824 54a2 0C94 0000 jmp .L6958825 .L690:8826 54a6 299A sbi 37-0x20,18827 54a8 0C94 0000 jmp .L6928828 .L866:8829 54ac 81E0 ldi r24,lo8(1)8830 54ae 8093 0000 sts last_n_p.3101,r248831 54b2 00C0 rjmp .L8708832 .L891:8833 54b4 81E0 ldi r24,lo8(1)8834 54b6 8093 0000 sts last_r_p.3103,r248835 54ba 00C0 rjmp .L8958836 .L724:8837 54bc 299A sbi 37-0x20,18838 54be 00C0 rjmp .L7268839 .L1084:8840 54c0 9095 com r258841 54c2 8195 neg r248842 54c4 9F4F sbci r25,lo8(-1)8843 54c6 0C94 0000 jmp .L7148844 .L897:8845 54ca 81E0 ldi r24,lo8(1)8846 54cc 8093 0000 sts last_r_n.3104,r248847 54d0 00C0 rjmp .L9018848 .L872:8849 54d2 81E0 ldi r24,lo8(1)8850 54d4 8093 0000 sts last_n_n.3102,r248851 54d8 00C0 rjmp .L8768852 .L1132:8853 54da 2F5F subi r18,lo8(-(1))8854 54dc 3F4F sbci r19,hi8(-(1))8855 54de 00C0 rjmp .L8568856 .L1131:8857 54e0 2F5F subi r18,lo8(-(1))8858 54e2 3F4F sbci r19,hi8(-(1))8859 54e4 00C0 rjmp .L8558860 .L1125:8861 54e6 F095 com r318862 54e8 E195 neg r308863 54ea FF4F sbci r31,lo8(-1)8864 54ec 00C0 rjmp .L8538865 .L1128:8866 54ee 2150 subi r18,lo8(-(255))8867 54f0 3F4F sbci r19,hi8(-(255))8868 54f2 00C0 rjmp .L7288869 .L1127:8870 54f4 8150 subi r24,lo8(-(255))8871 54f6 9F4F sbci r25,hi8(-(255))8872 54f8 00C0 rjmp .L7278873 .L1129:8874 54fa 2150 subi r18,lo8(-(255))8875 54fc 3F4F sbci r19,hi8(-(255))8876 54fe 00C0 rjmp .L7298877 .L1133:8878 5500 F095 com r318879 5502 E195 neg r308880 5504 FF4F sbci r31,lo8(-1)8881 5506 00C0 rjmp .L6978882 .L1054:8883 5508 6092 0000 sts Motor_Rechts,r68884 /* epilogue: frame size=46 */8885 550c AE96 adiw r28,468886 550e 0FB6 in __tmp_reg__,__SREG__8887 5510 F894 cli8888 5512 DEBF out __SP_H__,r298889 5514 0FBE out __SREG__,__tmp_reg__8890 5516 CDBF out __SP_L__,r288891 5518 DF91 pop r298892 551a CF91 pop r288893 551c 1F91 pop r178894 551e 0F91 pop r168895 5520 FF90 pop r158896 5522 EF90 pop r148897 5524 DF90 pop r138898 5526 CF90 pop r128899 5528 BF90 pop r118900 552a AF90 pop r108901 552c 9F90 pop r98902 552e 8F90 pop r88903 5530 7F90 pop r78904 5532 6F90 pop r68905 5534 5F90 pop r58906 5536 4F90 pop r48907 5538 3F90 pop r38908 553a 2F90 pop r28909 553c 0895 ret8910 /* epilogue end (size=25) */8911 /* function MotorRegler size 5990 (5939) */8913 .global I2CTimeout8914 .data8917 I2CTimeout:8918 0019 6400 .word 1008919 .global AdNeutralNick8920 .global AdNeutralNick8921 .section .bss8924 AdNeutralNick:8925 0000 0000 .skip 2,08926 .global AdNeutralRoll8927 .global AdNeutralRoll8930 AdNeutralRoll:8931 0002 0000 .skip 2,08932 .global AdNeutralGier8933 .global AdNeutralGier8936 AdNeutralGier:8937 0004 0000 .skip 2,08938 .global StartNeutralRoll8939 .global StartNeutralRoll8942 StartNeutralRoll:8943 0006 0000 .skip 2,08944 .global StartNeutralNick8945 .global StartNeutralNick8948 StartNeutralNick:8949 0008 0000 .skip 2,08950 .global NeutralAccX8951 .global NeutralAccX8954 NeutralAccX:8955 000a 0000 .skip 2,08956 .global NeutralAccY8957 .global NeutralAccY8960 NeutralAccY:8961 000c 0000 .skip 2,08962 .global NaviCntAcc8963 .global NaviCntAcc8966 NaviCntAcc:8967 000e 0000 .skip 2,08968 .global NeutralAccZ8969 .global NeutralAccZ8972 NeutralAccZ:8973 0010 0000 0000 .skip 4,08974 .global CosinusNickWinkel8975 .global CosinusNickWinkel8978 CosinusNickWinkel:8979 0014 00 .skip 1,08980 .global CosinusRollWinkel8981 .global CosinusRollWinkel8984 CosinusRollWinkel:8985 0015 00 .skip 1,08986 .global IntegralNick8987 .global IntegralNick8990 IntegralNick:8991 0016 0000 0000 .skip 4,08992 .global IntegralNick28993 .global IntegralNick28996 IntegralNick2:8997 001a 0000 0000 .skip 4,08998 .global IntegralRoll8999 .global IntegralRoll9002 IntegralRoll:9003 001e 0000 0000 .skip 4,09004 .global IntegralRoll29005 .global IntegralRoll29008 IntegralRoll2:9009 0022 0000 0000 .skip 4,09010 .global IntegralAccNick9011 .global IntegralAccNick9014 IntegralAccNick:9015 0026 0000 0000 .skip 4,09016 .global IntegralAccRoll9017 .global IntegralAccRoll9020 IntegralAccRoll:9021 002a 0000 0000 .skip 4,09022 .global IntegralAccZ9023 .global IntegralAccZ9026 IntegralAccZ:9027 002e 0000 0000 .skip 4,09028 .global Integral_Gier9029 .global Integral_Gier9032 Integral_Gier:9033 0032 0000 0000 .skip 4,09034 .global Mess_IntegralNick9035 .global Mess_IntegralNick9038 Mess_IntegralNick:9039 0036 0000 0000 .skip 4,09040 .global Mess_IntegralNick29041 .global Mess_IntegralNick29044 Mess_IntegralNick2:9045 003a 0000 0000 .skip 4,09046 .global Mess_IntegralRoll9047 .global Mess_IntegralRoll9050 Mess_IntegralRoll:9051 003e 0000 0000 .skip 4,09052 .global Mess_IntegralRoll29053 .global Mess_IntegralRoll29056 Mess_IntegralRoll2:9057 0042 0000 0000 .skip 4,09058 .global Mess_Integral_Gier9059 .global Mess_Integral_Gier9062 Mess_Integral_Gier:9063 0046 0000 0000 .skip 4,09064 .global Mess_Integral_Gier29065 .global Mess_Integral_Gier29068 Mess_Integral_Gier2:9069 004a 0000 0000 .skip 4,09070 .global Mess_Integral_Hoch9071 .global Mess_Integral_Hoch9074 Mess_Integral_Hoch:9075 004e 0000 0000 .skip 4,09076 .global KompassValue9077 .global KompassValue9080 KompassValue:9081 0052 0000 .skip 2,09082 .global KompassStartwert9083 .global KompassStartwert9086 KompassStartwert:9087 0054 0000 .skip 2,09088 .global KompassRichtung9089 .global KompassRichtung9092 KompassRichtung:9093 0056 0000 .skip 2,09094 .global KompassSignalSchlecht9095 .data9098 KompassSignalSchlecht:9099 001b F401 .word 5009100 .global Notlandung9101 .global Notlandung9102 .section .bss9105 Notlandung:9106 0058 00 .skip 1,09107 .global HoehenReglerAktiv9108 .global HoehenReglerAktiv9111 HoehenReglerAktiv:9112 0059 00 .skip 1,09113 .global TrichterFlug9114 .global TrichterFlug9117 TrichterFlug:9118 005a 00 .skip 1,09119 .global Umschlag180Nick9120 .data9123 Umschlag180Nick:9124 001d 90 .byte -1129125 001e D0 .byte -489126 001f 03 .byte 39127 0020 00 .byte 09128 .global Umschlag180Roll9131 Umschlag180Roll:9132 0021 90 .byte -1129133 0022 D0 .byte -489134 0023 03 .byte 39135 0024 00 .byte 09136 .global GierGyroFehler9137 .global GierGyroFehler9138 .section .bss9141 GierGyroFehler:9142 005b 0000 .skip 2,09143 .global Poti19144 .global Poti19147 Poti1:9148 005d 0000 .skip 2,09149 .global Poti29150 .global Poti29153 Poti2:9154 005f 0000 .skip 2,09155 .global Poti39156 .global Poti39159 Poti3:9160 0061 0000 .skip 2,09161 .global Poti49162 .global Poti49165 Poti4:9166 0063 0000 .skip 2,09167 .global SenderOkay9168 .global SenderOkay9171 SenderOkay:9172 0065 00 .skip 1,09173 .global StickNick9174 .global StickNick9177 StickNick:9178 0066 0000 .skip 2,09179 .global StickRoll9180 .global StickRoll9183 StickRoll:9184 0068 0000 .skip 2,09185 .global StickGier9186 .global StickGier9189 StickGier:9190 006a 0000 .skip 2,09191 .global StickGas9192 .global StickGas9195 StickGas:9196 006c 0000 .skip 2,09197 .global MotorenEin9198 .global MotorenEin9201 MotorenEin:9202 006e 00 .skip 1,09203 .global HoehenWert9204 .global HoehenWert9207 HoehenWert:9208 006f 0000 .skip 2,09209 .global SollHoehe9210 .global SollHoehe9213 SollHoehe:9214 0071 0000 .skip 2,09215 .global LageKorrekturRoll9216 .global LageKorrekturRoll9219 LageKorrekturRoll:9220 0073 0000 .skip 2,09221 .global LageKorrekturNick9222 .global LageKorrekturNick9225 LageKorrekturNick:9226 0075 0000 .skip 2,09227 .global Ki9228 .data9231 Ki:9232 0025 3801 .word 3129233 .global Looping_Nick9234 .global Looping_Nick9235 .section .bss9238 Looping_Nick:9239 0077 00 .skip 1,09240 .global Looping_Roll9241 .global Looping_Roll9244 Looping_Roll:9245 0078 00 .skip 1,09246 .global Looping_Links9247 .global Looping_Links9250 Looping_Links:9251 0079 00 .skip 1,09252 .global Looping_Rechts9253 .global Looping_Rechts9256 Looping_Rechts:9257 007a 00 .skip 1,09258 .global Looping_Unten9259 .global Looping_Unten9262 Looping_Unten:9263 007b 00 .skip 1,09264 .global Looping_Oben9265 .global Looping_Oben9268 Looping_Oben:9269 007c 00 .skip 1,09270 .global Parameter_Luftdruck_D9271 .data9274 Parameter_Luftdruck_D:9275 0027 30 .byte 489276 .global Parameter_MaxHoehe9279 Parameter_MaxHoehe:9280 0028 FB .byte -59281 .global Parameter_Hoehe_P9284 Parameter_Hoehe_P:9285 0029 10 .byte 169286 .global Parameter_Hoehe_ACC_Wirkung9289 Parameter_Hoehe_ACC_Wirkung:9290 002a 3A .byte 589291 .global Parameter_KompassWirkung9294 Parameter_KompassWirkung:9295 002b 40 .byte 649296 .global Parameter_Gyro_D9299 Parameter_Gyro_D:9300 002c 08 .byte 89301 .global Parameter_Gyro_P9304 Parameter_Gyro_P:9305 002d 96 .byte -1069306 .global Parameter_Gyro_I9309 Parameter_Gyro_I:9310 002e 96 .byte -1069311 .global Parameter_Gier_P9314 Parameter_Gier_P:9315 002f 02 .byte 29316 .global Parameter_I_Faktor9319 Parameter_I_Faktor:9320 0030 0A .byte 109321 .global Parameter_UserParam19322 .global Parameter_UserParam19323 .section .bss9326 Parameter_UserParam1:9327 007d 00 .skip 1,09328 .global Parameter_UserParam29329 .global Parameter_UserParam29332 Parameter_UserParam2:9333 007e 00 .skip 1,09334 .global Parameter_UserParam39335 .global Parameter_UserParam39338 Parameter_UserParam3:9339 007f 00 .skip 1,09340 .global Parameter_UserParam49341 .global Parameter_UserParam49344 Parameter_UserParam4:9345 0080 00 .skip 1,09346 .global Parameter_UserParam59347 .global Parameter_UserParam59350 Parameter_UserParam5:9351 0081 00 .skip 1,09352 .global Parameter_UserParam69353 .global Parameter_UserParam69356 Parameter_UserParam6:9357 0082 00 .skip 1,09358 .global Parameter_UserParam79359 .global Parameter_UserParam79362 Parameter_UserParam7:9363 0083 00 .skip 1,09364 .global Parameter_UserParam89365 .global Parameter_UserParam89368 Parameter_UserParam8:9369 0084 00 .skip 1,09370 .global Parameter_ServoNickControl9371 .data9374 Parameter_ServoNickControl:9375 0031 64 .byte 1009376 .global Parameter_LoopGasLimit9379 Parameter_LoopGasLimit:9380 0032 46 .byte 709381 .global Parameter_AchsKopplung19384 Parameter_AchsKopplung1:9385 0033 5A .byte 909386 .global Parameter_AchsKopplung29389 Parameter_AchsKopplung2:9390 0034 41 .byte 659391 .global Parameter_CouplingYawCorrection9394 Parameter_CouplingYawCorrection:9395 0035 40 .byte 649396 .global Parameter_DynamicStability9399 Parameter_DynamicStability:9400 0036 64 .byte 1009401 .global ExternStickNick9402 .global ExternStickNick9403 .section .bss9406 ExternStickNick:9407 0085 0000 .skip 2,09408 .global ExternStickRoll9409 .global ExternStickRoll9412 ExternStickRoll:9413 0087 0000 .skip 2,09414 .global ExternStickGier9415 .global ExternStickGier9418 ExternStickGier:9419 0089 0000 .skip 2,09420 .global ExternHoehenValue9421 .data9424 ExternHoehenValue:9425 0037 ECFF .word -209426 .global MaxStickNick9427 .global MaxStickNick9428 .section .bss9431 MaxStickNick:9432 008b 0000 .skip 2,09433 .global MaxStickRoll9434 .global MaxStickRoll9437 MaxStickRoll:9438 008d 0000 .skip 2,09439 .global modell_fliegt9440 .global modell_fliegt9443 modell_fliegt:9444 008f 0000 .skip 2,09445 .global MikroKopterFlags9446 .global MikroKopterFlags9449 MikroKopterFlags:9450 0091 00 .skip 1,09451 .global GIER_GRAD_FAKTOR9452 .data9455 GIER_GRAD_FAKTOR:9456 0039 0B .byte 119457 003a 05 .byte 59458 003b 00 .byte 09459 003c 00 .byte 09462 delay.3113:9463 003d 64 .byte 1009464 .lcomm MittelIntegralRoll_Alt.3106,49465 .lcomm MittelIntegralNick_Alt.3105,49466 .lcomm last_r_n.3104,19467 .lcomm last_r_p.3103,19468 .lcomm last_n_n.3102,19469 .lcomm last_n_p.3101,19470 .lcomm cnt.3100,29471 .lcomm stick_roll.3097,29472 .lcomm stick_nick.3096,29473 .lcomm ausgleichRoll.3091,49474 .lcomm ausgleichNick.3090,49475 .lcomm NeueKompassRichtungMerken.3089,19476 .lcomm TimerWerteausgabe.3088,19477 .lcomm motorwert4.3083,29478 .lcomm motorwert3.3082,29479 .lcomm motorwert2.3081,29480 .lcomm motorwert1.3080,29481 .lcomm hoehenregler.3079,29482 .lcomm delay_ausschalten.3078,19483 .lcomm delay_einschalten.3077,19484 .lcomm delay_neutral.3076,19485 .lcomm RcLostTimer.3075,29486 .lcomm IntegralFehlerRoll.3074,49487 .lcomm IntegralFehlerNick.3073,49488 .lcomm tmp_long2.3072,49489 .lcomm tmp_long.3071,49490 .lcomm sollGier.3070,49491 .lcomm SummeRoll.3069,49492 .lcomm SummeNick.3068,49493 .lcomm d2Nick.2659,29494 .lcomm d2Roll.2658,29495 .lcomm oldRoll.2657,29496 .lcomm oldNick.2656,29497 .lcomm tmpl4.2655,49498 .lcomm tmpl3.2654,49499 .lcomm tmpl2.2653,49500 .lcomm tmpl.2652,49501 .comm TrimNick,2,19502 .comm TrimRoll,2,19503 .comm ErsatzKompass,4,19504 .comm ErsatzKompassInGrad,2,19505 .comm MesswertNick,2,19506 .comm MesswertRoll,2,19507 .comm MesswertGier,2,19508 .comm Mittelwert_AccNick,2,19509 .comm Mittelwert_AccRoll,2,19510 .comm Mittelwert_AccHoch,2,19511 .comm NaviAccNick,2,19512 .comm NaviAccRoll,2,19513 .comm h,1,19514 .comm m,1,19515 .comm s,1,19516 .comm DiffNick,2,19517 .comm DiffRoll,2,19518 .comm Motor_Vorne,1,19519 .comm Motor_Hinten,1,19520 .comm Motor_Rechts,1,19521 .comm Motor_Links,1,19522 .comm Motor1,1,19523 .comm Motor2,1,19524 .comm Motor3,1,19525 .comm Motor4,1,19526 .comm Motor5,1,19527 .comm Motor6,1,19528 .comm Motor7,1,19529 .comm Motor8,1,19530 .comm EE_Parameter,93,19531 .comm Parameter_J16Bitmask,1,19532 .comm Parameter_J16Timing,1,19533 .comm Parameter_J17Bitmask,1,19534 .comm Parameter_J17Timing,1,19535 .comm Parameter_NaviGpsModeControl,1,19536 .comm MesswertGierBias,2,19537 .comm RohMesswertNick,2,19538 .comm RohMesswertRoll,2,19539 .comm AdNeutralGierBias,2,19540 .comm MittelIntegralNick,4,19541 .comm MittelIntegralRoll,4,19542 .comm MittelIntegralNick2,4,19543 .comm MittelIntegralRoll2,4,19544 .comm MAX_GAS,1,19545 .comm MIN_GAS,1,19546 .comm GyroFaktor,1,19547 .comm IntegralFaktor,1,19548 .comm Parameter_NaviGpsGain,1,19549 .comm Parameter_NaviGpsP,1,19550 .comm Parameter_NaviGpsI,1,19551 .comm Parameter_NaviGpsD,1,19552 .comm Parameter_NaviGpsACC,1,19553 .comm Parameter_NaviOperatingRadius,1,19554 .comm Parameter_NaviWindCorrection,1,19555 .comm Parameter_NaviSpeedCompensation,1,19556 .comm Parameter_ExternalControl,1,19557 .comm KopplungsteilNickRoll,2,19558 .comm KopplungsteilRollNick,2,19559 /* File "fc.c": code 10996 = 0x2af4 (10855), prologues 67, epilogues 74 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2 *ABS*:0000003f __SREG__C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3 *ABS*:0000003e __SP_H__C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:4 *ABS*:0000003d __SP_L__C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:5 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:6 *ABS*:00000001 __zero_reg__C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:12 .text:00000000 DefaultStickMapping*COM*:0000005d EE_ParameterC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:38 .text:00000032 MotorSmoothingC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:72 .text:0000005e MittelwertC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8936 .bss:00000004 AdNeutralGier*COM*:00000002 MesswertGier*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRoll*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000002 Mittelwert_AccHochC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9014 .bss:00000026 IntegralAccNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9020 .bss:0000002a IntegralAccRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8966 .bss:0000000e NaviCntAccC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8972 .bss:00000010 NeutralAccZC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9026 .bss:0000002e IntegralAccZC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9050 .bss:0000003e Mess_IntegralRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9038 .bss:00000036 Mess_IntegralNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9062 .bss:00000046 Mess_Integral_Gier*COM*:00000004 ErsatzKompassC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9238 .bss:00000077 Looping_NickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9244 .bss:00000078 Looping_Roll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 KopplungsteilNickRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9498 .bss:000000e9 tmpl2.2653C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9499 .bss:000000ed tmpl.2652C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9394 .data:00000035 Parameter_CouplingYawCorrection*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9455 .data:00000039 GIER_GRAD_FAKTORC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9056 .bss:00000042 Mess_IntegralRoll2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9219 .bss:00000073 LageKorrekturRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9131 .data:00000021 Umschlag180RollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9044 .bss:0000003a Mess_IntegralNick2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9225 .bss:00000075 LageKorrekturNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9123 .data:0000001d Umschlag180NickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9032 .bss:00000032 Integral_GierC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8990 .bss:00000016 IntegralNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9002 .bss:0000001e IntegralRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8996 .bss:0000001a IntegralNick2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9008 .bss:00000022 IntegralRoll2*COM*:00000002 MesswertNick*COM*:00000002 MesswertRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9299 .data:0000002c Parameter_Gyro_DC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9495 .bss:000000df oldNick.2656C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9492 .bss:000000d9 d2Nick.2659C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9494 .bss:000000dd oldRoll.2657C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9493 .bss:000000db d2Roll.2658C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9147 .bss:0000005d Poti1C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9153 .bss:0000005f Poti2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9159 .bss:00000061 Poti3C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9165 .bss:00000063 Poti4C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9389 .data:00000034 Parameter_AchsKopplung2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9497 .bss:000000e5 tmpl3.2654C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9496 .bss:000000e1 tmpl4.2655C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9384 .data:00000033 Parameter_AchsKopplung1C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9117 .bss:0000005a TrichterFlugC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:1855 .text:00001174 ParameterZuordnungC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9279 .data:00000028 Parameter_MaxHoeheC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9274 .data:00000027 Parameter_Luftdruck_DC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9284 .data:00000029 Parameter_Hoehe_PC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9289 .data:0000002a Parameter_Hoehe_ACC_WirkungC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9294 .data:0000002b Parameter_KompassWirkungC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9304 .data:0000002d Parameter_Gyro_PC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9309 .data:0000002e Parameter_Gyro_IC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9319 .data:00000030 Parameter_I_FaktorC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9326 .bss:0000007d Parameter_UserParam1C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9332 .bss:0000007e Parameter_UserParam2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9338 .bss:0000007f Parameter_UserParam3C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9344 .bss:00000080 Parameter_UserParam4C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9350 .bss:00000081 Parameter_UserParam5C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9356 .bss:00000082 Parameter_UserParam6C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9362 .bss:00000083 Parameter_UserParam7C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9368 .bss:00000084 Parameter_UserParam8C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9374 .data:00000031 Parameter_ServoNickControlC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9379 .data:00000032 Parameter_LoopGasLimitC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9399 .data:00000036 Parameter_DynamicStability*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_NaviGpsModeControl*COM*:00000001 Parameter_ExternalControlC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9231 .data:00000025 Ki*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2812 .text:00001a00 SendMotorDataC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9201 .bss:0000006e MotorenEin*COM*:00000001 Motor_Hinten*COM*:00000001 Motor_Vorne*COM*:00000001 Motor_Rechts*COM*:00000001 Motor_LinksC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9449 .bss:00000091 MikroKopterFlagsC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2880 .text:00001aa8 CalibrierMittelwertC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3194 .text:00001d84 SetNeutralC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8954 .bss:0000000a NeutralAccXC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8960 .bss:0000000c NeutralAccYC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8924 .bss:00000000 AdNeutralNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8930 .bss:00000002 AdNeutralRoll*COM*:00000002 AdNeutralGierBiasC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8942 .bss:00000006 StartNeutralRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8948 .bss:00000008 StartNeutralNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9074 .bss:0000004e Mess_Integral_HochC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9080 .bss:00000052 KompassValueC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9086 .bss:00000054 KompassStartwertC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9424 .data:00000037 ExternHoehenValueC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9141 .bss:0000005b GierGyroFehlerC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9171 .bss:00000065 SenderOkayC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3675 .text:0000227e PiepC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3715 .text:000022b6 DefaultKonstanten3C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3837 .text:00002414 DefaultKonstanten2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3961 .text:00002576 DefaultKonstanten1C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:4078 .text:000026d4 MotorReglerC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9195 .bss:0000006c StickGasC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9484 .bss:000000bb RcLostTimer.3075C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9443 .bss:0000008f modell_fliegtC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9105 .bss:00000058 NotlandungC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9189 .bss:0000006a StickGierC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9177 .bss:00000066 StickNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9183 .bss:00000068 StickRoll*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9464 .bss:00000096 MittelIntegralNick_Alt.3105.bss:00000092 MittelIntegralRoll_Alt.3106C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9098 .data:0000001b KompassSignalSchlechtC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9474 .bss:000000ac NeueKompassRichtungMerken.3089C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9489 .bss:000000cd sollGier.3070C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9437 .bss:0000008d MaxStickRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9431 .bss:0000008b MaxStickNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9483 .bss:000000ba delay_neutral.3076C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9482 .bss:000000b9 delay_einschalten.3077C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9481 .bss:000000b8 delay_ausschalten.3078C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9471 .bss:000000a2 stick_nick.3096C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9470 .bss:000000a0 stick_roll.3097C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9250 .bss:00000079 Looping_LinksC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9256 .bss:0000007a Looping_RechtsC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9268 .bss:0000007c Looping_ObenC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9262 .bss:0000007b Looping_UntenC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9475 .bss:000000ad TimerWerteausgabe.3088C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9490 .bss:000000d1 SummeRoll.3069C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9491 .bss:000000d5 SummeNick.3068C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9462 .data:0000003d delay.3113C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9207 .bss:0000006f HoehenWertC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9480 .bss:000000b6 hoehenregler.3079*COM*:00000002 DiffNick*COM*:00000002 DiffRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9479 .bss:000000b4 motorwert1.3080C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9478 .bss:000000b2 motorwert2.3081C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9477 .bss:000000b0 motorwert3.3082C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9476 .bss:000000ae motorwert4.3083C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9213 .bss:00000071 SollHoeheC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9111 .bss:00000059 HoehenReglerAktivC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9473 .bss:000000a8 ausgleichNick.3090C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9488 .bss:000000c9 tmp_long.3071C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9487 .bss:000000c5 tmp_long2.3072C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9486 .bss:000000c1 IntegralFehlerNick.3073C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9485 .bss:000000bd IntegralFehlerRoll.3074C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9469 .bss:0000009e cnt.3100C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9472 .bss:000000a4 ausgleichRoll.3091C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9068 .bss:0000004a Mess_Integral_Gier2C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9466 .bss:0000009b last_r_p.3103C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9465 .bss:0000009a last_r_n.3104C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9468 .bss:0000009d last_n_p.3101C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9467 .bss:0000009c last_n_n.3102C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8917 .data:00000019 I2CTimeoutC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8978 .bss:00000014 CosinusNickWinkelC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8984 .bss:00000015 CosinusRollWinkelC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9092 .bss:00000056 KompassRichtungC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9314 .data:0000002f Parameter_Gier_PC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9406 .bss:00000085 ExternStickNickC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9412 .bss:00000087 ExternStickRollC:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9418 .bss:00000089 ExternStickGier*COM*:00000002 ErsatzKompassInGrad*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Motor1*COM*:00000001 Motor2*COM*:00000001 Motor3*COM*:00000001 Motor4*COM*:00000001 Motor5*COM*:00000001 Motor6*COM*:00000001 Motor7*COM*:00000001 Motor8*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsGain*COM*:00000001 Parameter_NaviGpsP*COM*:00000001 Parameter_NaviGpsI*COM*:00000001 Parameter_NaviGpsD*COM*:00000001 Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED SYMBOLS__do_copy_data__do_clear_bssAdWertGierAdWertNickFilterAdWertRollFilterAdWertAccNick__mulsi3__divmodsi4AdWertAccRollAdWertAccHochAktuell_az__floatsisf__subsf3__addsf3__fixsfsiAdReadyHiResNickHiResRollAdWertNickPlatinenVersionAdWertRollPPM_in__divmodhi4MotorTestDebugOuttwi_statemotori2c_startSucheGyroOffsetServoActiveExpandBaroDelay_ms_MessMessLuftdruckEEPromArray__eeprom_read_byte_1F2021SucheLuftruckOffsetLuftdruckStartLuftdruckHoeheDGPS_NeutralbeeptimeSendVersionToNaviLED_InitFromNaviCtrl_ValueDelay_msPcZugriffBeepMusterPPM_diffNewPpmDataZaehlMessungenSetActiveParamSetNumberWinkelOutGPS_Nick2GPS_NickGPS_Roll2GPS_Roll__fixunssfsiExternControlUBatServoValue__eeprom_write_byte_1F2021GetActiveParamSetNumberDruckOffsetSettingReadParameterSet