Go to most recent revision | Blame | Compare with Previous | Last modification | View Log | RSS feed
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 .L4561864 1182 8C3F cpi r24,lo8(-4)1865 1184 01F4 brne .+21866 1186 00C0 rjmp .L4571867 1188 8D3F cpi r24,lo8(-3)1868 118a 01F4 brne .+21869 118c 00C0 rjmp .L4581870 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 .L4591884 11ae 8C3F cpi r24,lo8(-4)1885 11b0 01F4 brne .+21886 11b2 00C0 rjmp .L4601887 11b4 8D3F cpi r24,lo8(-3)1888 11b6 01F4 brne .+21889 11b8 00C0 rjmp .L4611890 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 .L465:1907 11e0 8B3F cpi r24,lo8(-5)1908 11e2 01F4 brne .+21909 11e4 00C0 rjmp .L4621910 11e6 8C3F cpi r24,lo8(-4)1911 11e8 01F4 brne .+21912 11ea 00C0 rjmp .L4631913 11ec 8D3F cpi r24,lo8(-3)1914 11ee 01F4 brne .+21915 11f0 00C0 rjmp .L4641916 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 .L4651929 .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 .L469:1941 122a 8B3F cpi r24,lo8(-5)1942 122c 01F4 brne .+21943 122e 00C0 rjmp .L4661944 1230 8C3F cpi r24,lo8(-4)1945 1232 01F4 brne .+21946 1234 00C0 rjmp .L4671947 1236 8D3F cpi r24,lo8(-3)1948 1238 01F4 brne .+21949 123a 00C0 rjmp .L4681950 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 .L4691963 .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 .L4701972 126e 8C3F cpi r24,lo8(-4)1973 1270 01F4 brne .+21974 1272 00C0 rjmp .L4711975 1274 8D3F cpi r24,lo8(-3)1976 1276 01F4 brne .+21977 1278 00C0 rjmp .L4721978 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 .L4731992 129a 8C3F cpi r24,lo8(-4)1993 129c 01F4 brne .+21994 129e 00C0 rjmp .L4741995 12a0 8D3F cpi r24,lo8(-3)1996 12a2 01F4 brne .+21997 12a4 00C0 rjmp .L4751998 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 .L479:2016 12ce 8B3F cpi r24,lo8(-5)2017 12d0 01F4 brne .+22018 12d2 00C0 rjmp .L4762019 12d4 8C3F cpi r24,lo8(-4)2020 12d6 01F4 brne .+22021 12d8 00C0 rjmp .L4772022 12da 8D3F cpi r24,lo8(-3)2023 12dc 01F4 brne .+22024 12de 00C0 rjmp .L4782025 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 .L4792037 .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 .L4802046 1310 8C3F cpi r24,lo8(-4)2047 1312 01F4 brne .+22048 1314 00C0 rjmp .L4812049 1316 8D3F cpi r24,lo8(-3)2050 1318 01F4 brne .+22051 131a 00C0 rjmp .L4822052 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 .L4832066 133c 8C3F cpi r24,lo8(-4)2067 133e 01F4 brne .+22068 1340 00C0 rjmp .L4842069 1342 8D3F cpi r24,lo8(-3)2070 1344 01F4 brne .+22071 1346 00C0 rjmp .L4852072 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 .L4862086 1368 8C3F cpi r24,lo8(-4)2087 136a 01F4 brne .+22088 136c 00C0 rjmp .L4872089 136e 8D3F cpi r24,lo8(-3)2090 1370 01F4 brne .+22091 1372 00C0 rjmp .L4882092 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 .L4892106 1394 8C3F cpi r24,lo8(-4)2107 1396 01F4 brne .+22108 1398 00C0 rjmp .L4902109 139a 8D3F cpi r24,lo8(-3)2110 139c 01F4 brne .+22111 139e 00C0 rjmp .L4912112 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 .L4922126 13c0 8C3F cpi r24,lo8(-4)2127 13c2 01F4 brne .+22128 13c4 00C0 rjmp .L4932129 13c6 8D3F cpi r24,lo8(-3)2130 13c8 01F4 brne .+22131 13ca 00C0 rjmp .L4942132 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 .L4952146 13ec 8C3F cpi r24,lo8(-4)2147 13ee 01F4 brne .+22148 13f0 00C0 rjmp .L4962149 13f2 8D3F cpi r24,lo8(-3)2150 13f4 01F4 brne .+22151 13f6 00C0 rjmp .L4972152 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 .L4982166 1418 8C3F cpi r24,lo8(-4)2167 141a 01F4 brne .+22168 141c 00C0 rjmp .L4992169 141e 8D3F cpi r24,lo8(-3)2170 1420 01F4 brne .+22171 1422 00C0 rjmp .L5002172 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 .L5012186 1444 8C3F cpi r24,lo8(-4)2187 1446 01F4 brne .+22188 1448 00C0 rjmp .L5022189 144a 8D3F cpi r24,lo8(-3)2190 144c 01F4 brne .+22191 144e 00C0 rjmp .L5032192 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 .L5042206 1470 8C3F cpi r24,lo8(-4)2207 1472 01F4 brne .+22208 1474 00C0 rjmp .L5052209 1476 8D3F cpi r24,lo8(-3)2210 1478 01F4 brne .+22211 147a 00C0 rjmp .L5062212 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 .L5072226 149c 8C3F cpi r24,lo8(-4)2227 149e 01F4 brne .+22228 14a0 00C0 rjmp .L5082229 14a2 8D3F cpi r24,lo8(-3)2230 14a4 01F4 brne .+22231 14a6 00C0 rjmp .L5092232 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 .L5102246 14c8 8C3F cpi r24,lo8(-4)2247 14ca 01F4 brne .+22248 14cc 00C0 rjmp .L5112249 14ce 8D3F cpi r24,lo8(-3)2250 14d0 01F4 brne .+22251 14d2 00C0 rjmp .L5122252 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 .L5132266 14f4 8C3F cpi r24,lo8(-4)2267 14f6 01F4 brne .+22268 14f8 00C0 rjmp .L5142269 14fa 8D3F cpi r24,lo8(-3)2270 14fc 01F4 brne .+22271 14fe 00C0 rjmp .L5152272 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 .L5162286 1520 8C3F cpi r24,lo8(-4)2287 1522 01F4 brne .+22288 1524 00C0 rjmp .L5172289 1526 8D3F cpi r24,lo8(-3)2290 1528 01F4 brne .+22291 152a 00C0 rjmp .L5182292 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 .L5192306 154c 8C3F cpi r24,lo8(-4)2307 154e 01F4 brne .+22308 1550 00C0 rjmp .L5202309 1552 8D3F cpi r24,lo8(-3)2310 1554 01F4 brne .+22311 1556 00C0 rjmp .L5212312 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 .L5222326 1578 8C3F cpi r24,lo8(-4)2327 157a 01F4 brne .+22328 157c 00C0 rjmp .L5232329 157e 8D3F cpi r24,lo8(-3)2330 1580 01F4 brne .+22331 1582 00C0 rjmp .L5242332 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 .L5252346 15a4 8C3F cpi r24,lo8(-4)2347 15a6 01F4 brne .+22348 15a8 00C0 rjmp .L5262349 15aa 8D3F cpi r24,lo8(-3)2350 15ac 01F4 brne .+22351 15ae 00C0 rjmp .L5272352 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 .L5282366 15d0 8C3F cpi r24,lo8(-4)2367 15d2 01F4 brne .+22368 15d4 00C0 rjmp .L5292369 15d6 8D3F cpi r24,lo8(-3)2370 15d8 01F4 brne .+22371 15da 00C0 rjmp .L5302372 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 .L5312384 15f8 8F3F cpi r24,lo8(-1)2385 15fa 01F0 breq .L5322386 .L429:2387 15fc 8091 0000 lds r24,EE_Parameter+572388 1600 8B3F cpi r24,lo8(-5)2389 1602 00F0 brlo .L4312390 1604 8B3F cpi r24,lo8(-5)2391 1606 01F4 brne .+22392 1608 00C0 rjmp .L5332393 160a 8C3F cpi r24,lo8(-4)2394 160c 01F4 brne .+22395 160e 00C0 rjmp .L5342396 1610 8D3F cpi r24,lo8(-3)2397 1612 01F4 brne .+22398 1614 00C0 rjmp .L5352399 1616 8E3F cpi r24,lo8(-2)2400 1618 01F4 brne .L4352401 161a 8091 0000 lds r24,Poti42402 161e 8093 0000 sts Parameter_J17Timing,r242403 1622 00C0 rjmp .L4352404 .L431:2405 1624 8093 0000 sts Parameter_J17Timing,r242406 .L435:2407 1628 8091 0000 lds r24,Parameter_J17Timing2408 162c 8230 cpi r24,lo8(2)2409 162e 00F0 brlo .L5362410 1630 8F3F cpi r24,lo8(-1)2411 1632 01F0 breq .L5372412 .L443:2413 1634 8091 0000 lds r24,EE_Parameter+742414 1638 8B3F cpi r24,lo8(-5)2415 163a 00F0 brlo .L4452416 163c 8B3F cpi r24,lo8(-5)2417 163e 01F4 brne .+22418 1640 00C0 rjmp .L5382419 1642 8C3F cpi r24,lo8(-4)2420 1644 01F4 brne .+22421 1646 00C0 rjmp .L5392422 1648 8D3F cpi r24,lo8(-3)2423 164a 01F4 brne .+22424 164c 00C0 rjmp .L5402425 164e 8E3F cpi r24,lo8(-2)2426 1650 01F0 breq .+22427 1652 00C0 rjmp .L4492428 1654 8091 0000 lds r24,Poti42429 1658 8093 0000 sts Parameter_ExternalControl,r242430 165c 00C0 rjmp .L4492431 .L445:2432 165e 8093 0000 sts Parameter_ExternalControl,r242433 1662 00C0 rjmp .L4492434 .L537:2435 1664 8093 0000 sts Parameter_J17Timing,r242436 1668 00C0 rjmp .L4432437 .L532:2438 166a 8093 0000 sts Parameter_J16Timing,r242439 166e 00C0 rjmp .L4292440 .L536:2441 1670 81E0 ldi r24,lo8(1)2442 1672 8093 0000 sts Parameter_J17Timing,r242443 1676 00C0 rjmp .L4432444 .L531:2445 1678 81E0 ldi r24,lo8(1)2446 167a 8093 0000 sts Parameter_J16Timing,r242447 167e 00C0 rjmp .L4292448 .L501:2449 1680 8091 0000 lds r24,Poti12450 1684 8093 0000 sts Parameter_UserParam6,r242451 1688 00C0 rjmp .L3312452 .L504:2453 168a 8091 0000 lds r24,Poti12454 168e 8093 0000 sts Parameter_UserParam7,r242455 1692 00C0 rjmp .L3412456 .L507:2457 1694 8091 0000 lds r24,Poti12458 1698 8093 0000 sts Parameter_UserParam8,r242459 169c 00C0 rjmp .L3512460 .L510:2461 169e 8091 0000 lds r24,Poti12462 16a2 8093 0000 sts Parameter_ServoNickControl,r242463 16a6 00C0 rjmp .L3612464 .L513:2465 16a8 8091 0000 lds r24,Poti12466 16ac 8093 0000 sts Parameter_LoopGasLimit,r242467 16b0 00C0 rjmp .L3712468 .L516:2469 16b2 8091 0000 lds r24,Poti12470 16b6 8093 0000 sts Parameter_AchsKopplung1,r242471 16ba 00C0 rjmp .L3812472 .L519:2473 16bc 8091 0000 lds r24,Poti12474 16c0 8093 0000 sts Parameter_AchsKopplung2,r242475 16c4 00C0 rjmp .L3912476 .L522:2477 16c6 8091 0000 lds r24,Poti12478 16ca 8093 0000 sts Parameter_CouplingYawCorrection,r242479 16ce 00C0 rjmp .L4012480 .L489:2481 16d0 8091 0000 lds r24,Poti12482 16d4 8093 0000 sts Parameter_UserParam2,r242483 16d8 00C0 rjmp .L2912484 .L492:2485 16da 8091 0000 lds r24,Poti12486 16de 8093 0000 sts Parameter_UserParam3,r242487 16e2 00C0 rjmp .L3012488 .L495:2489 16e4 8091 0000 lds r24,Poti12490 16e8 8093 0000 sts Parameter_UserParam4,r242491 16ec 00C0 rjmp .L3112492 .L498:2493 16ee 8091 0000 lds r24,Poti12494 16f2 8093 0000 sts Parameter_UserParam5,r242495 16f6 00C0 rjmp .L3212496 .L480:2497 16f8 8091 0000 lds r24,Poti12498 16fc 8093 0000 sts Parameter_Gyro_D,r242499 1700 00C0 rjmp .L2612500 .L483:2501 1702 8091 0000 lds r24,Poti12502 1706 8093 0000 sts Parameter_I_Faktor,r242503 170a 00C0 rjmp .L2712504 .L486:2505 170c 8091 0000 lds r24,Poti12506 1710 8093 0000 sts Parameter_UserParam1,r242507 1714 00C0 rjmp .L2812508 .L525:2509 1716 8091 0000 lds r24,Poti12510 171a 8093 0000 sts Parameter_DynamicStability,r242511 171e 00C0 rjmp .L4112512 .L528:2513 1720 8091 0000 lds r24,Poti12514 1724 8093 0000 sts Parameter_J16Timing,r242515 1728 00C0 rjmp .L4212516 .L533:2517 172a 8091 0000 lds r24,Poti12518 172e 8093 0000 sts Parameter_J17Timing,r242519 1732 00C0 rjmp .L4352520 .L538:2521 1734 8091 0000 lds r24,Poti12522 1738 8093 0000 sts Parameter_ExternalControl,r242523 173c 00C0 rjmp .L4492524 .L459:2525 173e 8091 0000 lds r24,Poti12526 1742 8093 0000 sts Parameter_Luftdruck_D,r242527 1746 00C0 rjmp .L1892528 .L462:2529 1748 8091 0000 lds r24,Poti12530 174c 8093 0000 sts Parameter_Hoehe_P,r242531 1750 00C0 rjmp .L2032532 .L466:2533 1752 8091 0000 lds r24,Poti12534 1756 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242535 175a 00C0 rjmp .L2172536 .L456:2537 175c 8091 0000 lds r24,Poti12538 1760 8093 0000 sts Parameter_MaxHoehe,r242539 1764 00C0 rjmp .L1792540 .L473:2541 1766 8091 0000 lds r24,Poti12542 176a 8093 0000 sts Parameter_Gyro_P,r242543 176e 00C0 rjmp .L2372544 .L476:2545 1770 8091 0000 lds r24,Poti12546 1774 8093 0000 sts Parameter_Gyro_I,r242547 1778 00C0 rjmp .L2512548 .L470:2549 177a 8091 0000 lds r24,Poti12550 177e 8093 0000 sts Parameter_KompassWirkung,r242551 1782 00C0 rjmp .L2272552 .L535:2553 1784 8091 0000 lds r24,Poti32554 1788 8093 0000 sts Parameter_J17Timing,r242555 178c 00C0 rjmp .L4352556 .L540:2557 178e 8091 0000 lds r24,Poti32558 1792 8093 0000 sts Parameter_ExternalControl,r242559 1796 00C0 rjmp .L4492560 .L482:2561 1798 8091 0000 lds r24,Poti32562 179c 8093 0000 sts Parameter_Gyro_D,r242563 17a0 00C0 rjmp .L2612564 .L472:2565 17a2 8091 0000 lds r24,Poti32566 17a6 8093 0000 sts Parameter_KompassWirkung,r242567 17aa 00C0 rjmp .L2272568 .L475:2569 17ac 8091 0000 lds r24,Poti32570 17b0 8093 0000 sts Parameter_Gyro_P,r242571 17b4 00C0 rjmp .L2372572 .L478:2573 17b6 8091 0000 lds r24,Poti32574 17ba 8093 0000 sts Parameter_Gyro_I,r242575 17be 00C0 rjmp .L2512576 .L461:2577 17c0 8091 0000 lds r24,Poti32578 17c4 8093 0000 sts Parameter_Luftdruck_D,r242579 17c8 00C0 rjmp .L1892580 .L464:2581 17ca 8091 0000 lds r24,Poti32582 17ce 8093 0000 sts Parameter_Hoehe_P,r242583 17d2 00C0 rjmp .L2032584 .L468:2585 17d4 8091 0000 lds r24,Poti32586 17d8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242587 17dc 00C0 rjmp .L2172588 .L458:2589 17de 8091 0000 lds r24,Poti32590 17e2 8093 0000 sts Parameter_MaxHoehe,r242591 17e6 00C0 rjmp .L1792592 .L530:2593 17e8 8091 0000 lds r24,Poti32594 17ec 8093 0000 sts Parameter_J16Timing,r242595 17f0 00C0 rjmp .L4212596 .L521:2597 17f2 8091 0000 lds r24,Poti32598 17f6 8093 0000 sts Parameter_AchsKopplung2,r242599 17fa 00C0 rjmp .L3912600 .L524:2601 17fc 8091 0000 lds r24,Poti32602 1800 8093 0000 sts Parameter_CouplingYawCorrection,r242603 1804 00C0 rjmp .L4012604 .L527:2605 1806 8091 0000 lds r24,Poti32606 180a 8093 0000 sts Parameter_DynamicStability,r242607 180e 00C0 rjmp .L4112608 .L512:2609 1810 8091 0000 lds r24,Poti32610 1814 8093 0000 sts Parameter_ServoNickControl,r242611 1818 00C0 rjmp .L3612612 .L515:2613 181a 8091 0000 lds r24,Poti32614 181e 8093 0000 sts Parameter_LoopGasLimit,r242615 1822 00C0 rjmp .L3712616 .L518:2617 1824 8091 0000 lds r24,Poti32618 1828 8093 0000 sts Parameter_AchsKopplung1,r242619 182c 00C0 rjmp .L3812620 .L509:2621 182e 8091 0000 lds r24,Poti32622 1832 8093 0000 sts Parameter_UserParam8,r242623 1836 00C0 rjmp .L3512624 .L488:2625 1838 8091 0000 lds r24,Poti32626 183c 8093 0000 sts Parameter_UserParam1,r242627 1840 00C0 rjmp .L2812628 .L491:2629 1842 8091 0000 lds r24,Poti32630 1846 8093 0000 sts Parameter_UserParam2,r242631 184a 00C0 rjmp .L2912632 .L494:2633 184c 8091 0000 lds r24,Poti32634 1850 8093 0000 sts Parameter_UserParam3,r242635 1854 00C0 rjmp .L3012636 .L485:2637 1856 8091 0000 lds r24,Poti32638 185a 8093 0000 sts Parameter_I_Faktor,r242639 185e 00C0 rjmp .L2712640 .L506:2641 1860 8091 0000 lds r24,Poti32642 1864 8093 0000 sts Parameter_UserParam7,r242643 1868 00C0 rjmp .L3412644 .L497:2645 186a 8091 0000 lds r24,Poti32646 186e 8093 0000 sts Parameter_UserParam4,r242647 1872 00C0 rjmp .L3112648 .L500:2649 1874 8091 0000 lds r24,Poti32650 1878 8093 0000 sts Parameter_UserParam5,r242651 187c 00C0 rjmp .L3212652 .L503:2653 187e 8091 0000 lds r24,Poti32654 1882 8093 0000 sts Parameter_UserParam6,r242655 1886 00C0 rjmp .L3312656 .L499:2657 1888 8091 0000 lds r24,Poti22658 188c 8093 0000 sts Parameter_UserParam5,r242659 1890 00C0 rjmp .L3212660 .L502:2661 1892 8091 0000 lds r24,Poti22662 1896 8093 0000 sts Parameter_UserParam6,r242663 189a 00C0 rjmp .L3312664 .L487:2665 189c 8091 0000 lds r24,Poti22666 18a0 8093 0000 sts Parameter_UserParam1,r242667 18a4 00C0 rjmp .L2812668 .L490:2669 18a6 8091 0000 lds r24,Poti22670 18aa 8093 0000 sts Parameter_UserParam2,r242671 18ae 00C0 rjmp .L2912672 .L517:2673 18b0 8091 0000 lds r24,Poti22674 18b4 8093 0000 sts Parameter_AchsKopplung1,r242675 18b8 00C0 rjmp .L3812676 .L508:2677 18ba 8091 0000 lds r24,Poti22678 18be 8093 0000 sts Parameter_UserParam8,r242679 18c2 00C0 rjmp .L3512680 .L505:2681 18c4 8091 0000 lds r24,Poti22682 18c8 8093 0000 sts Parameter_UserParam7,r242683 18cc 00C0 rjmp .L3412684 .L496:2685 18ce 8091 0000 lds r24,Poti22686 18d2 8093 0000 sts Parameter_UserParam4,r242687 18d6 00C0 rjmp .L3112688 .L493:2689 18d8 8091 0000 lds r24,Poti22690 18dc 8093 0000 sts Parameter_UserParam3,r242691 18e0 00C0 rjmp .L3012692 .L484:2693 18e2 8091 0000 lds r24,Poti22694 18e6 8093 0000 sts Parameter_I_Faktor,r242695 18ea 00C0 rjmp .L2712696 .L529:2697 18ec 8091 0000 lds r24,Poti22698 18f0 8093 0000 sts Parameter_J16Timing,r242699 18f4 00C0 rjmp .L4212700 .L520:2701 18f6 8091 0000 lds r24,Poti22702 18fa 8093 0000 sts Parameter_AchsKopplung2,r242703 18fe 00C0 rjmp .L3912704 .L467:2705 1900 8091 0000 lds r24,Poti22706 1904 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r242707 1908 00C0 rjmp .L2172708 .L457:2709 190a 8091 0000 lds r24,Poti22710 190e 8093 0000 sts Parameter_MaxHoehe,r242711 1912 00C0 rjmp .L1792712 .L511:2713 1914 8091 0000 lds r24,Poti22714 1918 8093 0000 sts Parameter_ServoNickControl,r242715 191c 00C0 rjmp .L3612716 .L514:2717 191e 8091 0000 lds r24,Poti22718 1922 8093 0000 sts Parameter_LoopGasLimit,r242719 1926 00C0 rjmp .L3712720 .L523:2721 1928 8091 0000 lds r24,Poti22722 192c 8093 0000 sts Parameter_CouplingYawCorrection,r242723 1930 00C0 rjmp .L4012724 .L526:2725 1932 8091 0000 lds r24,Poti22726 1936 8093 0000 sts Parameter_DynamicStability,r242727 193a 00C0 rjmp .L4112728 .L481:2729 193c 8091 0000 lds r24,Poti22730 1940 8093 0000 sts Parameter_Gyro_D,r242731 1944 00C0 rjmp .L2612732 .L471:2733 1946 8091 0000 lds r24,Poti22734 194a 8093 0000 sts Parameter_KompassWirkung,r242735 194e 00C0 rjmp .L2272736 .L534:2737 1950 8091 0000 lds r24,Poti22738 1954 8093 0000 sts Parameter_J17Timing,r242739 1958 00C0 rjmp .L4352740 .L539:2741 195a 8091 0000 lds r24,Poti22742 195e 8093 0000 sts Parameter_ExternalControl,r242743 1962 00C0 rjmp .L4492744 .L460:2745 1964 8091 0000 lds r24,Poti22746 1968 8093 0000 sts Parameter_Luftdruck_D,r242747 196c 00C0 rjmp .L1892748 .L463:2749 196e 8091 0000 lds r24,Poti22750 1972 8093 0000 sts Parameter_Hoehe_P,r242751 1976 00C0 rjmp .L2032752 .L474:2753 1978 8091 0000 lds r24,Poti22754 197c 8093 0000 sts Parameter_Gyro_P,r242755 1980 00C0 rjmp .L2372756 .L477:2757 1982 8091 0000 lds r24,Poti22758 1986 8093 0000 sts Parameter_Gyro_I,r242759 198a 00C0 rjmp .L2512760 .L449:2761 198c 6091 0000 lds r22,Parameter_I_Faktor2762 1990 70E0 ldi r23,lo8(0)2763 1992 6F5F subi r22,lo8(-(1))2764 1994 7F4F sbci r23,hi8(-(1))2765 1996 8CE3 ldi r24,lo8(10300)2766 1998 98E2 ldi r25,hi8(10300)2767 199a 0E94 0000 call __divmodhi42768 199e 7093 0000 sts (Ki)+1,r232769 19a2 6093 0000 sts Ki,r222770 19a6 8091 0000 lds r24,EE_Parameter+192771 19aa 8093 0000 sts MAX_GAS,r242772 19ae 8091 0000 lds r24,EE_Parameter+182773 19b2 8093 0000 sts MIN_GAS,r242774 /* epilogue: frame size=0 */2775 19b6 0895 ret2776 /* epilogue end (size=1) */2777 /* function ParameterZuordnung size 1058 (1057) */2779 .global SendMotorData2781 SendMotorData:2782 /* prologue: frame size=0 */2783 /* prologue end (size=0) */2784 19b8 8091 0000 lds r24,MotorenEin2785 19bc 8823 tst r242786 19be 01F4 brne .L5422787 19c0 1092 0000 sts Motor_Hinten,__zero_reg__2788 19c4 1092 0000 sts Motor_Vorne,__zero_reg__2789 19c8 1092 0000 sts Motor_Rechts,__zero_reg__2790 19cc 1092 0000 sts Motor_Links,__zero_reg__2791 19d0 8091 0000 lds r24,MotorTest2792 19d4 8823 tst r242793 19d6 01F0 breq .L5442794 19d8 8093 0000 sts Motor_Vorne,r242795 .L544:2796 19dc 8091 0000 lds r24,MotorTest+12797 19e0 8823 tst r242798 19e2 01F0 breq .L5462799 19e4 8093 0000 sts Motor_Hinten,r242800 .L546:2801 19e8 8091 0000 lds r24,MotorTest+22802 19ec 8823 tst r242803 19ee 01F0 breq .L5482804 19f0 8093 0000 sts Motor_Links,r242805 .L548:2806 19f4 8091 0000 lds r24,MotorTest+32807 19f8 8823 tst r242808 19fa 01F4 brne .L5542809 .L550:2810 19fc 8091 0000 lds r24,MikroKopterFlags2811 1a00 8C7F andi r24,lo8(-4)2812 1a02 8093 0000 sts MikroKopterFlags,r242813 1a06 00C0 rjmp .L5522814 .L542:2815 1a08 8091 0000 lds r24,MikroKopterFlags2816 1a0c 8160 ori r24,lo8(1)2817 1a0e 8093 0000 sts MikroKopterFlags,r242818 1a12 00C0 rjmp .L5522819 .L554:2820 1a14 8093 0000 sts Motor_Rechts,r242821 1a18 00C0 rjmp .L5502822 .L552:2823 1a1a 8091 0000 lds r24,Motor_Vorne2824 1a1e 90E0 ldi r25,lo8(0)2825 1a20 9093 0000 sts (DebugOut+26)+1,r252826 1a24 8093 0000 sts DebugOut+26,r242827 1a28 8091 0000 lds r24,Motor_Hinten2828 1a2c 90E0 ldi r25,lo8(0)2829 1a2e 9093 0000 sts (DebugOut+28)+1,r252830 1a32 8093 0000 sts DebugOut+28,r242831 1a36 8091 0000 lds r24,Motor_Links2832 1a3a 90E0 ldi r25,lo8(0)2833 1a3c 9093 0000 sts (DebugOut+30)+1,r252834 1a40 8093 0000 sts DebugOut+30,r242835 1a44 8091 0000 lds r24,Motor_Rechts2836 1a48 90E0 ldi r25,lo8(0)2837 1a4a 9093 0000 sts (DebugOut+32)+1,r252838 1a4e 8093 0000 sts DebugOut+32,r242839 1a52 1092 0000 sts twi_state,__zero_reg__2840 1a56 1092 0000 sts motor,__zero_reg__2841 1a5a 0E94 0000 call i2c_start2842 /* epilogue: frame size=0 */2843 1a5e 0895 ret2844 /* epilogue end (size=1) */2845 /* function SendMotorData size 84 (83) */2847 .global CalibrierMittelwert2849 CalibrierMittelwert:2850 /* prologue: frame size=0 */2851 /* prologue end (size=0) */2852 1a60 8091 0000 lds r24,PlatinenVersion2853 1a64 8D30 cpi r24,lo8(13)2854 1a66 01F4 brne .+22855 1a68 00C0 rjmp .L5952856 .L556:2857 1a6a 1092 7A00 sts 122,__zero_reg__2858 1a6e 8091 0000 lds r24,AdWertNick2859 1a72 9091 0000 lds r25,(AdWertNick)+12860 1a76 9093 0000 sts (MesswertNick)+1,r252861 1a7a 8093 0000 sts MesswertNick,r242862 1a7e 8091 0000 lds r24,AdWertRoll2863 1a82 9091 0000 lds r25,(AdWertRoll)+12864 1a86 9093 0000 sts (MesswertRoll)+1,r252865 1a8a 8093 0000 sts MesswertRoll,r242866 1a8e 8091 0000 lds r24,AdWertGier2867 1a92 9091 0000 lds r25,(AdWertGier)+12868 1a96 9093 0000 sts (MesswertGier)+1,r252869 1a9a 8093 0000 sts MesswertGier,r242870 1a9e 6091 0000 lds r22,AdWertAccNick2871 1aa2 7091 0000 lds r23,(AdWertAccNick)+12872 1aa6 8827 clr r242873 1aa8 77FD sbrc r23,72874 1aaa 8095 com r242875 1aac 982F mov r25,r242876 1aae 26E0 ldi r18,lo8(6)2877 1ab0 30E0 ldi r19,hi8(6)2878 1ab2 40E0 ldi r20,hlo8(6)2879 1ab4 50E0 ldi r21,hhi8(6)2880 1ab6 0E94 0000 call __mulsi32881 1aba 7093 0000 sts (Mittelwert_AccNick)+1,r232882 1abe 6093 0000 sts Mittelwert_AccNick,r222883 1ac2 6091 0000 lds r22,AdWertAccRoll2884 1ac6 7091 0000 lds r23,(AdWertAccRoll)+12885 1aca 8827 clr r242886 1acc 77FD sbrc r23,72887 1ace 8095 com r242888 1ad0 982F mov r25,r242889 1ad2 0E94 0000 call __mulsi32890 1ad6 7093 0000 sts (Mittelwert_AccRoll)+1,r232891 1ada 6093 0000 sts Mittelwert_AccRoll,r222892 1ade 8091 0000 lds r24,AdWertAccHoch2893 1ae2 9091 0000 lds r25,(AdWertAccHoch)+12894 1ae6 9093 0000 sts (Mittelwert_AccHoch)+1,r252895 1aea 8093 0000 sts Mittelwert_AccHoch,r242896 1aee 8FEC ldi r24,lo8(-49)2897 1af0 8093 7A00 sts 122,r242898 1af4 8091 0000 lds r24,EE_Parameter+42899 1af8 E82F mov r30,r242900 1afa F0E0 ldi r31,lo8(0)2901 1afc EE0F lsl r302902 1afe FF1F rol r312903 1b00 E050 subi r30,lo8(-(PPM_in))2904 1b02 F040 sbci r31,hi8(-(PPM_in))2905 1b04 8081 ld r24,Z2906 1b06 9181 ldd r25,Z+12907 1b08 A091 0000 lds r26,Poti12908 1b0c B091 0000 lds r27,(Poti1)+12909 1b10 8259 subi r24,lo8(-(110))2910 1b12 9F4F sbci r25,hi8(-(110))2911 1b14 A817 cp r26,r242912 1b16 B907 cpc r27,r252913 1b18 04F0 brlt .+22914 1b1a 00C0 rjmp .L5582915 1b1c 1196 adiw r26,12916 1b1e B093 0000 sts (Poti1)+1,r272917 1b22 A093 0000 sts Poti1,r262918 .L560:2919 1b26 8091 0000 lds r24,EE_Parameter+52920 1b2a E82F mov r30,r242921 1b2c F0E0 ldi r31,lo8(0)2922 1b2e EE0F lsl r302923 1b30 FF1F rol r312924 1b32 E050 subi r30,lo8(-(PPM_in))2925 1b34 F040 sbci r31,hi8(-(PPM_in))2926 1b36 8081 ld r24,Z2927 1b38 9181 ldd r25,Z+12928 1b3a 6091 0000 lds r22,Poti22929 1b3e 7091 0000 lds r23,(Poti2)+12930 1b42 8259 subi r24,lo8(-(110))2931 1b44 9F4F sbci r25,hi8(-(110))2932 1b46 6817 cp r22,r242933 1b48 7907 cpc r23,r252934 1b4a 04F0 brlt .+22935 1b4c 00C0 rjmp .L5632936 1b4e 6F5F subi r22,lo8(-(1))2937 1b50 7F4F sbci r23,hi8(-(1))2938 1b52 7093 0000 sts (Poti2)+1,r232939 1b56 6093 0000 sts Poti2,r222940 .L565:2941 1b5a 8091 0000 lds r24,EE_Parameter+62942 1b5e E82F mov r30,r242943 1b60 F0E0 ldi r31,lo8(0)2944 1b62 EE0F lsl r302945 1b64 FF1F rol r312946 1b66 E050 subi r30,lo8(-(PPM_in))2947 1b68 F040 sbci r31,hi8(-(PPM_in))2948 1b6a 8081 ld r24,Z2949 1b6c 9181 ldd r25,Z+12950 1b6e 4091 0000 lds r20,Poti32951 1b72 5091 0000 lds r21,(Poti3)+12952 1b76 8259 subi r24,lo8(-(110))2953 1b78 9F4F sbci r25,hi8(-(110))2954 1b7a 4817 cp r20,r242955 1b7c 5907 cpc r21,r252956 1b7e 04F0 brlt .+22957 1b80 00C0 rjmp .L5682958 1b82 4F5F subi r20,lo8(-(1))2959 1b84 5F4F sbci r21,hi8(-(1))2960 1b86 5093 0000 sts (Poti3)+1,r212961 1b8a 4093 0000 sts Poti3,r202962 .L570:2963 1b8e 8091 0000 lds r24,EE_Parameter+72964 1b92 E82F mov r30,r242965 1b94 F0E0 ldi r31,lo8(0)2966 1b96 EE0F lsl r302967 1b98 FF1F rol r312968 1b9a E050 subi r30,lo8(-(PPM_in))2969 1b9c F040 sbci r31,hi8(-(PPM_in))2970 1b9e 8081 ld r24,Z2971 1ba0 9181 ldd r25,Z+12972 1ba2 2091 0000 lds r18,Poti42973 1ba6 3091 0000 lds r19,(Poti4)+12974 1baa 8259 subi r24,lo8(-(110))2975 1bac 9F4F sbci r25,hi8(-(110))2976 1bae 2817 cp r18,r242977 1bb0 3907 cpc r19,r252978 1bb2 04F4 brge .L5732979 1bb4 2F5F subi r18,lo8(-(1))2980 1bb6 3F4F sbci r19,hi8(-(1))2981 1bb8 3093 0000 sts (Poti4)+1,r192982 1bbc 2093 0000 sts Poti4,r182983 .L575:2984 1bc0 B7FD sbrc r27,72985 1bc2 00C0 rjmp .L5962986 .L578:2987 1bc4 AF3F cpi r26,2552988 1bc6 B105 cpc r27,__zero_reg__2989 1bc8 01F0 breq .+42990 1bca 04F0 brlt .+22991 1bcc 00C0 rjmp .L5972992 .L580:2993 1bce 77FD sbrc r23,72994 1bd0 00C0 rjmp .L5982995 .L582:2996 1bd2 6F3F cpi r22,2552997 1bd4 7105 cpc r23,__zero_reg__2998 1bd6 01F0 breq .+42999 1bd8 04F0 brlt .+23000 1bda 00C0 rjmp .L5993001 .L584:3002 1bdc 57FD sbrc r21,73003 1bde 00C0 rjmp .L6003004 .L586:3005 1be0 4F3F cpi r20,2553006 1be2 5105 cpc r21,__zero_reg__3007 1be4 01F0 breq .+43008 1be6 04F0 brlt .+23009 1be8 00C0 rjmp .L6013010 .L588:3011 1bea 37FD sbrc r19,73012 1bec 00C0 rjmp .L6023013 .L590:3014 1bee 2F3F cpi r18,2553015 1bf0 3105 cpc r19,__zero_reg__3016 1bf2 01F0 breq .+23017 1bf4 04F4 brge .+23018 1bf6 00C0 rjmp .L5923019 1bf8 8FEF ldi r24,lo8(255)3020 1bfa 90E0 ldi r25,hi8(255)3021 1bfc 9093 0000 sts (Poti4)+1,r253022 1c00 8093 0000 sts Poti4,r243023 1c04 00C0 rjmp .L5923024 .L573:3025 1c06 8081 ld r24,Z3026 1c08 9181 ldd r25,Z+13027 1c0a 8259 subi r24,lo8(-(110))3028 1c0c 9F4F sbci r25,hi8(-(110))3029 1c0e 8217 cp r24,r183030 1c10 9307 cpc r25,r193031 1c12 04F4 brge .L5753032 1c14 2115 cp r18,__zero_reg__3033 1c16 3105 cpc r19,__zero_reg__3034 1c18 01F0 breq .L5753035 1c1a 2150 subi r18,lo8(-(-1))3036 1c1c 3040 sbci r19,hi8(-(-1))3037 1c1e 3093 0000 sts (Poti4)+1,r193038 1c22 2093 0000 sts Poti4,r183039 1c26 B7FF sbrs r27,73040 1c28 00C0 rjmp .L5783041 .L596:3042 1c2a 1092 0000 sts (Poti1)+1,__zero_reg__3043 1c2e 1092 0000 sts Poti1,__zero_reg__3044 1c32 77FF sbrs r23,73045 1c34 00C0 rjmp .L5823046 .L598:3047 1c36 1092 0000 sts (Poti2)+1,__zero_reg__3048 1c3a 1092 0000 sts Poti2,__zero_reg__3049 1c3e 57FF sbrs r21,73050 1c40 00C0 rjmp .L5863051 .L600:3052 1c42 1092 0000 sts (Poti3)+1,__zero_reg__3053 1c46 1092 0000 sts Poti3,__zero_reg__3054 1c4a 37FF sbrs r19,73055 1c4c 00C0 rjmp .L5903056 .L602:3057 1c4e 1092 0000 sts (Poti4)+1,__zero_reg__3058 1c52 1092 0000 sts Poti4,__zero_reg__3059 1c56 00C0 rjmp .L5923060 .L568:3061 1c58 8081 ld r24,Z3062 1c5a 9181 ldd r25,Z+13063 1c5c 8259 subi r24,lo8(-(110))3064 1c5e 9F4F sbci r25,hi8(-(110))3065 1c60 8417 cp r24,r203066 1c62 9507 cpc r25,r213067 1c64 04F0 brlt .+23068 1c66 00C0 rjmp .L5703069 1c68 4115 cp r20,__zero_reg__3070 1c6a 5105 cpc r21,__zero_reg__3071 1c6c 01F4 brne .+23072 1c6e 00C0 rjmp .L5703073 1c70 4150 subi r20,lo8(-(-1))3074 1c72 5040 sbci r21,hi8(-(-1))3075 1c74 5093 0000 sts (Poti3)+1,r213076 1c78 4093 0000 sts Poti3,r203077 1c7c 00C0 rjmp .L5703078 .L563:3079 1c7e 8081 ld r24,Z3080 1c80 9181 ldd r25,Z+13081 1c82 8259 subi r24,lo8(-(110))3082 1c84 9F4F sbci r25,hi8(-(110))3083 1c86 8617 cp r24,r223084 1c88 9707 cpc r25,r233085 1c8a 04F0 brlt .+23086 1c8c 00C0 rjmp .L5653087 1c8e 6115 cp r22,__zero_reg__3088 1c90 7105 cpc r23,__zero_reg__3089 1c92 01F4 brne .+23090 1c94 00C0 rjmp .L5653091 1c96 6150 subi r22,lo8(-(-1))3092 1c98 7040 sbci r23,hi8(-(-1))3093 1c9a 7093 0000 sts (Poti2)+1,r233094 1c9e 6093 0000 sts Poti2,r223095 1ca2 00C0 rjmp .L5653096 .L558:3097 1ca4 8081 ld r24,Z3098 1ca6 9181 ldd r25,Z+13099 1ca8 8259 subi r24,lo8(-(110))3100 1caa 9F4F sbci r25,hi8(-(110))3101 1cac 8A17 cp r24,r263102 1cae 9B07 cpc r25,r273103 1cb0 04F0 brlt .+23104 1cb2 00C0 rjmp .L5603105 1cb4 1097 sbiw r26,03106 1cb6 01F4 brne .+23107 1cb8 00C0 rjmp .L5603108 1cba 1197 sbiw r26,13109 1cbc B093 0000 sts (Poti1)+1,r273110 1cc0 A093 0000 sts Poti1,r263111 1cc4 00C0 rjmp .L5603112 .L601:3113 1cc6 8FEF ldi r24,lo8(255)3114 1cc8 90E0 ldi r25,hi8(255)3115 1cca 9093 0000 sts (Poti3)+1,r253116 1cce 8093 0000 sts Poti3,r243117 1cd2 00C0 rjmp .L5883118 .L599:3119 1cd4 8FEF ldi r24,lo8(255)3120 1cd6 90E0 ldi r25,hi8(255)3121 1cd8 9093 0000 sts (Poti2)+1,r253122 1cdc 8093 0000 sts Poti2,r243123 1ce0 00C0 rjmp .L5843124 .L597:3125 1ce2 8FEF ldi r24,lo8(255)3126 1ce4 90E0 ldi r25,hi8(255)3127 1ce6 9093 0000 sts (Poti1)+1,r253128 1cea 8093 0000 sts Poti1,r243129 1cee 00C0 rjmp .L5803130 .L595:3131 1cf0 0E94 0000 call SucheGyroOffset3132 1cf4 00C0 rjmp .L5563133 .L592:3134 1cf6 6091 0000 lds r22,EE_Parameter+453135 1cfa 70E0 ldi r23,lo8(0)3136 1cfc 80E0 ldi r24,lo8(0)3137 1cfe 90E0 ldi r25,hi8(0)3138 1d00 24EC ldi r18,lo8(2500)3139 1d02 39E0 ldi r19,hi8(2500)3140 1d04 40E0 ldi r20,hlo8(2500)3141 1d06 50E0 ldi r21,hhi8(2500)3142 1d08 0E94 0000 call __mulsi33143 1d0c 6093 0000 sts Umschlag180Nick,r223144 1d10 7093 0000 sts (Umschlag180Nick)+1,r233145 1d14 8093 0000 sts (Umschlag180Nick)+2,r243146 1d18 9093 0000 sts (Umschlag180Nick)+3,r253147 1d1c 6091 0000 lds r22,EE_Parameter+463148 1d20 70E0 ldi r23,lo8(0)3149 1d22 80E0 ldi r24,lo8(0)3150 1d24 90E0 ldi r25,hi8(0)3151 1d26 0E94 0000 call __mulsi33152 1d2a 6093 0000 sts Umschlag180Roll,r223153 1d2e 7093 0000 sts (Umschlag180Roll)+1,r233154 1d32 8093 0000 sts (Umschlag180Roll)+2,r243155 1d36 9093 0000 sts (Umschlag180Roll)+3,r253156 /* epilogue: frame size=0 */3157 1d3a 0895 ret3158 /* epilogue end (size=1) */3159 /* function CalibrierMittelwert size 366 (365) */3161 .global SetNeutral3163 SetNeutral:3164 /* prologue: frame size=0 */3165 1d3c 6F92 push r63166 1d3e 7F92 push r73167 1d40 8F92 push r83168 1d42 9F92 push r93169 1d44 AF92 push r103170 1d46 BF92 push r113171 1d48 CF92 push r123172 1d4a DF92 push r133173 1d4c EF92 push r143174 1d4e FF92 push r153175 1d50 0F93 push r163176 1d52 1F93 push r173177 1d54 CF93 push r283178 1d56 DF93 push r293179 /* prologue end (size=14) */3180 1d58 1092 0000 sts ServoActive,__zero_reg__3181 1d5c 469A sbi 40-0x20,63182 1d5e 1092 0000 sts (NeutralAccX)+1,__zero_reg__3183 1d62 1092 0000 sts NeutralAccX,__zero_reg__3184 1d66 1092 0000 sts (NeutralAccY)+1,__zero_reg__3185 1d6a 1092 0000 sts NeutralAccY,__zero_reg__3186 1d6e 80E0 ldi r24,lo8(0x0)3187 1d70 90E0 ldi r25,hi8(0x0)3188 1d72 A0E0 ldi r26,hlo8(0x0)3189 1d74 B0E0 ldi r27,hhi8(0x0)3190 1d76 8093 0000 sts NeutralAccZ,r243191 1d7a 9093 0000 sts (NeutralAccZ)+1,r253192 1d7e A093 0000 sts (NeutralAccZ)+2,r263193 1d82 B093 0000 sts (NeutralAccZ)+3,r273194 1d86 1092 0000 sts (AdNeutralNick)+1,__zero_reg__3195 1d8a 1092 0000 sts AdNeutralNick,__zero_reg__3196 1d8e 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__3197 1d92 1092 0000 sts AdNeutralRoll,__zero_reg__3198 1d96 1092 0000 sts (AdNeutralGier)+1,__zero_reg__3199 1d9a 1092 0000 sts AdNeutralGier,__zero_reg__3200 1d9e 1092 0000 sts (AdNeutralGierBias)+1,__zero_reg__3201 1da2 1092 0000 sts AdNeutralGierBias,__zero_reg__3202 1da6 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__3203 1daa 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__3204 1dae 1092 0000 sts ExpandBaro,__zero_reg__3205 1db2 0E94 0000 call CalibrierMittelwert3206 1db6 84E6 ldi r24,lo8(100)3207 1db8 90E0 ldi r25,hi8(100)3208 1dba 0E94 0000 call Delay_ms_Mess3209 1dbe 0E94 0000 call CalibrierMittelwert3210 1dc2 8091 0000 lds r24,EE_Parameter+83211 1dc6 80FF sbrs r24,03212 1dc8 00C0 rjmp .L6043213 1dca 8091 0000 lds r24,MessLuftdruck3214 1dce 9091 0000 lds r25,(MessLuftdruck)+13215 1dd2 875B subi r24,lo8(951)3216 1dd4 9340 sbci r25,hi8(951)3217 1dd6 00F0 brlo .+23218 1dd8 00C0 rjmp .L6063219 1dda 8091 0000 lds r24,MessLuftdruck3220 1dde 9091 0000 lds r25,(MessLuftdruck)+13221 1de2 8E5E subi r24,lo8(750)3222 1de4 9240 sbci r25,hi8(750)3223 1de6 00F4 brsh .+23224 1de8 00C0 rjmp .L6063225 .L604:3226 1dea EE24 clr r143227 1dec CC24 clr r123228 1dee DD24 clr r133229 1df0 C0E0 ldi r28,lo8(0)3230 1df2 D0E0 ldi r29,hi8(0)3231 1df4 00E0 ldi r16,lo8(0)3232 1df6 10E0 ldi r17,hi8(0)3233 .L608:3234 1df8 8AE0 ldi r24,lo8(10)3235 1dfa 90E0 ldi r25,hi8(10)3236 1dfc 0E94 0000 call Delay_ms_Mess3237 1e00 8091 0000 lds r24,AdWertGier3238 1e04 9091 0000 lds r25,(AdWertGier)+13239 1e08 C80E add r12,r243240 1e0a D91E adc r13,r253241 1e0c 8091 0000 lds r24,AdWertNick3242 1e10 9091 0000 lds r25,(AdWertNick)+13243 1e14 C80F add r28,r243244 1e16 D91F adc r29,r253245 1e18 8091 0000 lds r24,AdWertRoll3246 1e1c 9091 0000 lds r25,(AdWertRoll)+13247 1e20 080F add r16,r243248 1e22 191F adc r17,r253249 1e24 E394 inc r143250 1e26 80E2 ldi r24,lo8(32)3251 1e28 E816 cp r14,r243252 1e2a 01F4 brne .L6083253 1e2c AE01 movw r20,r283254 1e2e 405F subi r20,lo8(-(16))3255 1e30 5F4F sbci r21,hi8(-(16))3256 1e32 5695 lsr r213257 1e34 4795 ror r203258 1e36 5695 lsr r213259 1e38 4795 ror r203260 1e3a 5093 0000 sts (AdNeutralNick)+1,r213261 1e3e 4093 0000 sts AdNeutralNick,r203262 1e42 9801 movw r18,r163263 1e44 205F subi r18,lo8(-(16))3264 1e46 3F4F sbci r19,hi8(-(16))3265 1e48 3695 lsr r193266 1e4a 2795 ror r183267 1e4c 3695 lsr r193268 1e4e 2795 ror r183269 1e50 3093 0000 sts (AdNeutralRoll)+1,r193270 1e54 2093 0000 sts AdNeutralRoll,r183271 1e58 C601 movw r24,r123272 1e5a 4096 adiw r24,163273 1e5c 9695 lsr r253274 1e5e 8795 ror r243275 1e60 9295 swap r253276 1e62 8295 swap r243277 1e64 8F70 andi r24,0x0f3278 1e66 8927 eor r24,r253279 1e68 9F70 andi r25,0x0f3280 1e6a 8927 eor r24,r253281 1e6c 9093 0000 sts (AdNeutralGier)+1,r253282 1e70 8093 0000 sts AdNeutralGier,r243283 1e74 9093 0000 sts (AdNeutralGierBias)+1,r253284 1e78 8093 0000 sts AdNeutralGierBias,r243285 1e7c 3093 0000 sts (StartNeutralRoll)+1,r193286 1e80 2093 0000 sts StartNeutralRoll,r183287 1e84 5093 0000 sts (StartNeutralNick)+1,r213288 1e88 4093 0000 sts StartNeutralNick,r203289 1e8c 40E0 ldi r20,lo8(EEPromArray+4)3290 1e8e 50E0 ldi r21,hi8(EEPromArray+4)3291 1e90 DA01 movw r26,r203292 /* #APP */3293 1e92 0E94 0000 call __eeprom_read_byte_1F20213294 1e96 802D mov r24,__tmp_reg__3295 /* #NOAPP */3296 1e98 8530 cpi r24,lo8(5)3297 1e9a 00F0 brlo .L6103298 1e9c 8091 0000 lds r24,Mittelwert_AccRoll3299 1ea0 9091 0000 lds r25,(Mittelwert_AccRoll)+13300 1ea4 97FD sbrc r25,73301 1ea6 00C0 rjmp .L6183302 .L612:3303 1ea8 6CE0 ldi r22,lo8(12)3304 1eaa 70E0 ldi r23,hi8(12)3305 1eac 0E94 0000 call __divmodhi43306 1eb0 7093 0000 sts (NeutralAccY)+1,r233307 1eb4 6093 0000 sts NeutralAccY,r223308 1eb8 8091 0000 lds r24,Mittelwert_AccNick3309 1ebc 9091 0000 lds r25,(Mittelwert_AccNick)+13310 1ec0 97FD sbrc r25,73311 1ec2 00C0 rjmp .L6193312 .L613:3313 1ec4 6CE0 ldi r22,lo8(12)3314 1ec6 70E0 ldi r23,hi8(12)3315 1ec8 0E94 0000 call __divmodhi43316 1ecc 7093 0000 sts (NeutralAccX)+1,r233317 1ed0 6093 0000 sts NeutralAccX,r223318 1ed4 6091 0000 lds r22,Aktuell_az3319 1ed8 7091 0000 lds r23,(Aktuell_az)+13320 1edc 8827 clr r243321 1ede 77FD sbrc r23,73322 1ee0 8095 com r243323 1ee2 982F mov r25,r243324 1ee4 0E94 0000 call __floatsisf3325 1ee8 6093 0000 sts NeutralAccZ,r223326 1eec 7093 0000 sts (NeutralAccZ)+1,r233327 1ef0 8093 0000 sts (NeutralAccZ)+2,r243328 1ef4 9093 0000 sts (NeutralAccZ)+3,r253329 1ef8 00C0 rjmp .L6143330 .L610:3331 1efa DA01 movw r26,r203332 /* #APP */3333 1efc 0E94 0000 call __eeprom_read_byte_1F20213334 1f00 802D mov r24,__tmp_reg__3335 /* #NOAPP */3336 1f02 4F5F subi r20,lo8(-(1))3337 1f04 5F4F sbci r21,hi8(-(1))3338 1f06 DA01 movw r26,r203339 /* #APP */3340 1f08 0E94 0000 call __eeprom_read_byte_1F20213341 1f0c 202D mov r18,__tmp_reg__3342 /* #NOAPP */3343 1f0e 90E0 ldi r25,lo8(0)3344 1f10 982F mov r25,r243345 1f12 8827 clr r243346 1f14 820F add r24,r183347 1f16 911D adc r25,__zero_reg__3348 1f18 9093 0000 sts (NeutralAccX)+1,r253349 1f1c 8093 0000 sts NeutralAccX,r243350 1f20 4F5F subi r20,lo8(-(1))3351 1f22 5F4F sbci r21,hi8(-(1))3352 1f24 DA01 movw r26,r203353 /* #APP */3354 1f26 0E94 0000 call __eeprom_read_byte_1F20213355 1f2a 802D mov r24,__tmp_reg__3356 /* #NOAPP */3357 1f2c 4F5F subi r20,lo8(-(1))3358 1f2e 5F4F sbci r21,hi8(-(1))3359 1f30 DA01 movw r26,r203360 /* #APP */3361 1f32 0E94 0000 call __eeprom_read_byte_1F20213362 1f36 202D mov r18,__tmp_reg__3363 /* #NOAPP */3364 1f38 90E0 ldi r25,lo8(0)3365 1f3a 982F mov r25,r243366 1f3c 8827 clr r243367 1f3e 820F add r24,r183368 1f40 911D adc r25,__zero_reg__3369 1f42 9093 0000 sts (NeutralAccY)+1,r253370 1f46 8093 0000 sts NeutralAccY,r243371 1f4a 4F5F subi r20,lo8(-(1))3372 1f4c 5F4F sbci r21,hi8(-(1))3373 1f4e DA01 movw r26,r203374 /* #APP */3375 1f50 0E94 0000 call __eeprom_read_byte_1F20213376 1f54 602D mov r22,__tmp_reg__3377 /* #NOAPP */3378 1f56 4F5F subi r20,lo8(-(1))3379 1f58 5F4F sbci r21,hi8(-(1))3380 1f5a DA01 movw r26,r203381 /* #APP */3382 1f5c 0E94 0000 call __eeprom_read_byte_1F20213383 1f60 202D mov r18,__tmp_reg__3384 /* #NOAPP */3385 1f62 70E0 ldi r23,lo8(0)3386 1f64 762F mov r23,r223387 1f66 6627 clr r223388 1f68 620F add r22,r183389 1f6a 711D adc r23,__zero_reg__3390 1f6c 8827 clr r243391 1f6e 77FD sbrc r23,73392 1f70 8095 com r243393 1f72 982F mov r25,r243394 1f74 0E94 0000 call __floatsisf3395 1f78 6093 0000 sts NeutralAccZ,r223396 1f7c 7093 0000 sts (NeutralAccZ)+1,r233397 1f80 8093 0000 sts (NeutralAccZ)+2,r243398 1f84 9093 0000 sts (NeutralAccZ)+3,r253399 1f88 00C0 rjmp .L6143400 .L606:3401 1f8a 0E94 0000 call SucheLuftruckOffset3402 1f8e 00C0 rjmp .L6043403 .L619:3404 1f90 9095 com r253405 1f92 8195 neg r243406 1f94 9F4F sbci r25,lo8(-1)3407 1f96 00C0 rjmp .L6133408 .L618:3409 1f98 9095 com r253410 1f9a 8195 neg r243411 1f9c 9F4F sbci r25,lo8(-1)3412 1f9e 00C0 rjmp .L6123413 .L614:3414 1fa0 1092 0000 sts (MesswertNick)+1,__zero_reg__3415 1fa4 1092 0000 sts MesswertNick,__zero_reg__3416 1fa8 1092 0000 sts (MesswertRoll)+1,__zero_reg__3417 1fac 1092 0000 sts MesswertRoll,__zero_reg__3418 1fb0 1092 0000 sts (MesswertGier)+1,__zero_reg__3419 1fb4 1092 0000 sts MesswertGier,__zero_reg__3420 1fb8 84E6 ldi r24,lo8(100)3421 1fba 90E0 ldi r25,hi8(100)3422 1fbc 0E94 0000 call Delay_ms_Mess3423 1fc0 6091 0000 lds r22,AdWertAccNick3424 1fc4 7091 0000 lds r23,(AdWertAccNick)+13425 1fc8 8827 clr r243426 1fca 77FD sbrc r23,73427 1fcc 8095 com r243428 1fce 982F mov r25,r243429 1fd0 26E0 ldi r18,lo8(6)3430 1fd2 30E0 ldi r19,hi8(6)3431 1fd4 40E0 ldi r20,hlo8(6)3432 1fd6 50E0 ldi r21,hhi8(6)3433 1fd8 0E94 0000 call __mulsi33434 1fdc 3B01 movw r6,r223435 1fde 4C01 movw r8,r243436 1fe0 7093 0000 sts (Mittelwert_AccNick)+1,r233437 1fe4 6093 0000 sts Mittelwert_AccNick,r223438 1fe8 6091 0000 lds r22,AdWertAccRoll3439 1fec 7091 0000 lds r23,(AdWertAccRoll)+13440 1ff0 8827 clr r243441 1ff2 77FD sbrc r23,73442 1ff4 8095 com r243443 1ff6 982F mov r25,r243444 1ff8 0E94 0000 call __mulsi33445 1ffc 5B01 movw r10,r223446 1ffe 6C01 movw r12,r243447 2000 7093 0000 sts (Mittelwert_AccRoll)+1,r233448 2004 6093 0000 sts Mittelwert_AccRoll,r223449 2008 E090 0000 lds r14,EE_Parameter+203450 200c FF24 clr r153451 200e 00E0 ldi r16,lo8(0)3452 2010 10E0 ldi r17,hi8(0)3453 2012 8824 clr r83454 2014 77FC sbrc r7,73455 2016 8094 com r83456 2018 982C mov r9,r83457 201a C401 movw r24,r83458 201c B301 movw r22,r63459 201e A801 movw r20,r163460 2020 9701 movw r18,r143461 2022 0E94 0000 call __mulsi33462 2026 3B01 movw r6,r223463 2028 4C01 movw r8,r243464 202a 6093 0000 sts IntegralNick,r223465 202e 7093 0000 sts (IntegralNick)+1,r233466 2032 8093 0000 sts (IntegralNick)+2,r243467 2036 9093 0000 sts (IntegralNick)+3,r253468 203a CC24 clr r123469 203c B7FC sbrc r11,73470 203e C094 com r123471 2040 DC2C mov r13,r123472 2042 C601 movw r24,r123473 2044 B501 movw r22,r103474 2046 0E94 0000 call __mulsi33475 204a 6093 0000 sts IntegralRoll,r223476 204e 7093 0000 sts (IntegralRoll)+1,r233477 2052 8093 0000 sts (IntegralRoll)+2,r243478 2056 9093 0000 sts (IntegralRoll)+3,r253479 205a 6092 0000 sts Mess_IntegralNick2,r63480 205e 7092 0000 sts (Mess_IntegralNick2)+1,r73481 2062 8092 0000 sts (Mess_IntegralNick2)+2,r83482 2066 9092 0000 sts (Mess_IntegralNick2)+3,r93483 206a 6093 0000 sts Mess_IntegralRoll2,r223484 206e 7093 0000 sts (Mess_IntegralRoll2)+1,r233485 2072 8093 0000 sts (Mess_IntegralRoll2)+2,r243486 2076 9093 0000 sts (Mess_IntegralRoll2)+3,r253487 207a 1092 0000 sts Mess_Integral_Gier,__zero_reg__3488 207e 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__3489 2082 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__3490 2086 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__3491 208a 8091 0000 lds r24,Luftdruck3492 208e 9091 0000 lds r25,(Luftdruck)+13493 2092 A091 0000 lds r26,(Luftdruck)+23494 2096 B091 0000 lds r27,(Luftdruck)+33495 209a 9093 0000 sts (StartLuftdruck)+1,r253496 209e 8093 0000 sts StartLuftdruck,r243497 20a2 1092 0000 sts (HoeheD)+1,__zero_reg__3498 20a6 1092 0000 sts HoeheD,__zero_reg__3499 20aa 1092 0000 sts Mess_Integral_Hoch,__zero_reg__3500 20ae 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__3501 20b2 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__3502 20b6 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__3503 20ba 8091 0000 lds r24,KompassValue3504 20be 9091 0000 lds r25,(KompassValue)+13505 20c2 9093 0000 sts (KompassStartwert)+1,r253506 20c6 8093 0000 sts KompassStartwert,r243507 20ca 0E94 0000 call GPS_Neutral3508 20ce 82E3 ldi r24,lo8(50)3509 20d0 90E0 ldi r25,hi8(50)3510 20d2 9093 0000 sts (beeptime)+1,r253511 20d6 8093 0000 sts beeptime,r243512 20da 6091 0000 lds r22,EE_Parameter+453513 20de 70E0 ldi r23,lo8(0)3514 20e0 80E0 ldi r24,lo8(0)3515 20e2 90E0 ldi r25,hi8(0)3516 20e4 24EC ldi r18,lo8(2500)3517 20e6 39E0 ldi r19,hi8(2500)3518 20e8 40E0 ldi r20,hlo8(2500)3519 20ea 50E0 ldi r21,hhi8(2500)3520 20ec 0E94 0000 call __mulsi33521 20f0 6856 subi r22,lo8(-(15000))3522 20f2 754C sbci r23,hi8(-(15000))3523 20f4 8F4F sbci r24,hlo8(-(15000))3524 20f6 9F4F sbci r25,hhi8(-(15000))3525 20f8 6093 0000 sts Umschlag180Nick,r223526 20fc 7093 0000 sts (Umschlag180Nick)+1,r233527 2100 8093 0000 sts (Umschlag180Nick)+2,r243528 2104 9093 0000 sts (Umschlag180Nick)+3,r253529 2108 6091 0000 lds r22,EE_Parameter+463530 210c 70E0 ldi r23,lo8(0)3531 210e 80E0 ldi r24,lo8(0)3532 2110 90E0 ldi r25,hi8(0)3533 2112 0E94 0000 call __mulsi33534 2116 6856 subi r22,lo8(-(15000))3535 2118 754C sbci r23,hi8(-(15000))3536 211a 8F4F sbci r24,hlo8(-(15000))3537 211c 9F4F sbci r25,hhi8(-(15000))3538 211e 6093 0000 sts Umschlag180Roll,r223539 2122 7093 0000 sts (Umschlag180Roll)+1,r233540 2126 8093 0000 sts (Umschlag180Roll)+2,r243541 212a 9093 0000 sts (Umschlag180Roll)+3,r253542 212e 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__3543 2132 1092 0000 sts ExternHoehenValue,__zero_reg__3544 2136 6091 0000 lds r22,KompassValue3545 213a 7091 0000 lds r23,(KompassValue)+13546 213e 8827 clr r243547 2140 77FD sbrc r23,73548 2142 8095 com r243549 2144 982F mov r25,r243550 2146 2091 0000 lds r18,GIER_GRAD_FAKTOR3551 214a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+13552 214e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+23553 2152 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+33554 2156 0E94 0000 call __mulsi33555 215a 6093 0000 sts ErsatzKompass,r223556 215e 7093 0000 sts (ErsatzKompass)+1,r233557 2162 8093 0000 sts (ErsatzKompass)+2,r243558 2166 9093 0000 sts (ErsatzKompass)+3,r253559 216a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__3560 216e 1092 0000 sts GierGyroFehler,__zero_reg__3561 2172 11E0 ldi r17,lo8(1)3562 2174 1093 0000 sts SendVersionToNavi,r173563 2178 0E94 0000 call LED_Init3564 217c 8091 0000 lds r24,MikroKopterFlags3565 2180 8460 ori r24,lo8(4)3566 2182 8093 0000 sts MikroKopterFlags,r243567 2186 8FEF ldi r24,lo8(-1)3568 2188 8093 0000 sts FromNaviCtrl_Value,r243569 218c 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__3570 2190 80E2 ldi r24,lo8(32)3571 2192 8093 0000 sts FromNaviCtrl_Value+2,r243572 2196 E091 0000 lds r30,EE_Parameter+43573 219a F0E0 ldi r31,lo8(0)3574 219c EE0F lsl r303575 219e FF1F rol r313576 21a0 E050 subi r30,lo8(-(PPM_in))3577 21a2 F040 sbci r31,hi8(-(PPM_in))3578 21a4 8081 ld r24,Z3579 21a6 9181 ldd r25,Z+13580 21a8 8259 subi r24,lo8(-(110))3581 21aa 9F4F sbci r25,hi8(-(110))3582 21ac 9093 0000 sts (Poti1)+1,r253583 21b0 8093 0000 sts Poti1,r243584 21b4 E091 0000 lds r30,EE_Parameter+53585 21b8 F0E0 ldi r31,lo8(0)3586 21ba EE0F lsl r303587 21bc FF1F rol r313588 21be E050 subi r30,lo8(-(PPM_in))3589 21c0 F040 sbci r31,hi8(-(PPM_in))3590 21c2 8081 ld r24,Z3591 21c4 9181 ldd r25,Z+13592 21c6 8259 subi r24,lo8(-(110))3593 21c8 9F4F sbci r25,hi8(-(110))3594 21ca 9093 0000 sts (Poti2)+1,r253595 21ce 8093 0000 sts Poti2,r243596 21d2 E091 0000 lds r30,EE_Parameter+63597 21d6 F0E0 ldi r31,lo8(0)3598 21d8 EE0F lsl r303599 21da FF1F rol r313600 21dc E050 subi r30,lo8(-(PPM_in))3601 21de F040 sbci r31,hi8(-(PPM_in))3602 21e0 8081 ld r24,Z3603 21e2 9181 ldd r25,Z+13604 21e4 8259 subi r24,lo8(-(110))3605 21e6 9F4F sbci r25,hi8(-(110))3606 21e8 9093 0000 sts (Poti3)+1,r253607 21ec 8093 0000 sts Poti3,r243608 21f0 E091 0000 lds r30,EE_Parameter+73609 21f4 F0E0 ldi r31,lo8(0)3610 21f6 EE0F lsl r303611 21f8 FF1F rol r313612 21fa E050 subi r30,lo8(-(PPM_in))3613 21fc F040 sbci r31,hi8(-(PPM_in))3614 21fe 8081 ld r24,Z3615 2200 9181 ldd r25,Z+13616 2202 8259 subi r24,lo8(-(110))3617 2204 9F4F sbci r25,hi8(-(110))3618 2206 9093 0000 sts (Poti4)+1,r253619 220a 8093 0000 sts Poti4,r243620 220e 1093 0000 sts ServoActive,r173621 2212 84E6 ldi r24,lo8(100)3622 2214 8093 0000 sts SenderOkay,r243623 /* epilogue: frame size=0 */3624 2218 DF91 pop r293625 221a CF91 pop r283626 221c 1F91 pop r173627 221e 0F91 pop r163628 2220 FF90 pop r153629 2222 EF90 pop r143630 2224 DF90 pop r133631 2226 CF90 pop r123632 2228 BF90 pop r113633 222a AF90 pop r103634 222c 9F90 pop r93635 222e 8F90 pop r83636 2230 7F90 pop r73637 2232 6F90 pop r63638 2234 0895 ret3639 /* epilogue end (size=15) */3640 /* function SetNeutral size 646 (617) */3642 .global Piep3644 Piep:3645 /* prologue: frame size=0 */3646 2236 1F93 push r173647 /* prologue end (size=1) */3648 2238 182F mov r17,r243649 223a 1150 subi r17,lo8(-(-1))3650 223c 1F3F cpi r17,lo8(-1)3651 223e 01F0 breq .L6253652 2240 8091 0000 lds r24,MotorenEin3653 2244 8823 tst r243654 2246 01F0 breq .L6263655 2248 00C0 rjmp .L6253656 .L624:3657 224a 8091 0000 lds r24,MotorenEin3658 224e 8823 tst r243659 2250 01F4 brne .L6253660 .L626:3661 2252 84E6 ldi r24,lo8(100)3662 2254 90E0 ldi r25,hi8(100)3663 2256 9093 0000 sts (beeptime)+1,r253664 225a 8093 0000 sts beeptime,r243665 225e 8AEF ldi r24,lo8(250)3666 2260 90E0 ldi r25,hi8(250)3667 2262 0E94 0000 call Delay_ms3668 2266 1150 subi r17,13669 2268 00F4 brcc .L6243670 .L625:3671 /* epilogue: frame size=0 */3672 226a 1F91 pop r173673 226c 0895 ret3674 /* epilogue end (size=2) */3675 /* function Piep size 29 (26) */3677 .data3678 .LC0:3679 0000 4265 6769 .string "Beginner"3679 6E6E 65723679 003680 0009 00 .string ""3681 .text3682 .global DefaultKonstanten33684 DefaultKonstanten3:3685 /* prologue: frame size=0 */3686 /* prologue end (size=0) */3687 226e 88EE ldi r24,lo8(-24)3688 2270 8093 0000 sts EE_Parameter+8,r243689 2274 3EE1 ldi r19,lo8(30)3690 2276 3093 0000 sts EE_Parameter+9,r193691 227a 8BEF ldi r24,lo8(-5)3692 227c 8093 0000 sts EE_Parameter+11,r243693 2280 8AE0 ldi r24,lo8(10)3694 2282 8093 0000 sts EE_Parameter+12,r243695 2286 3093 0000 sts EE_Parameter+10,r193696 228a 3093 0000 sts EE_Parameter+14,r193697 228e 93E0 ldi r25,lo8(3)3698 2290 9093 0000 sts EE_Parameter+13,r253699 2294 58E0 ldi r21,lo8(8)3700 2296 5093 0000 sts EE_Parameter+15,r213701 229a 20E1 ldi r18,lo8(16)3702 229c 2093 0000 sts EE_Parameter+16,r183703 22a0 66E0 ldi r22,lo8(6)3704 22a2 6093 0000 sts EE_Parameter+17,r223705 22a6 5093 0000 sts EE_Parameter+18,r213706 22aa 86EE ldi r24,lo8(-26)3707 22ac 8093 0000 sts EE_Parameter+19,r243708 22b0 3093 0000 sts EE_Parameter+20,r193709 22b4 80E8 ldi r24,lo8(-128)3710 22b6 8093 0000 sts EE_Parameter+21,r243711 22ba 44E6 ldi r20,lo8(100)3712 22bc 4093 0000 sts EE_Parameter+22,r203713 22c0 88E7 ldi r24,lo8(120)3714 22c2 8093 0000 sts EE_Parameter+23,r243715 22c6 9093 0000 sts EE_Parameter+24,r253716 22ca 8EE5 ldi r24,lo8(94)3717 22cc 8093 0000 sts EE_Parameter+25,r243718 22d0 83E2 ldi r24,lo8(35)3719 22d2 8093 0000 sts EE_Parameter+26,r243720 22d6 84E1 ldi r24,lo8(20)3721 22d8 8093 0000 sts EE_Parameter+27,r243722 22dc 1092 0000 sts EE_Parameter+28,__zero_reg__3723 22e0 2093 0000 sts EE_Parameter+29,r183724 22e4 1092 0000 sts EE_Parameter+30,__zero_reg__3725 22e8 1092 0000 sts EE_Parameter+31,__zero_reg__3726 22ec 1092 0000 sts EE_Parameter+32,__zero_reg__3727 22f0 1092 0000 sts EE_Parameter+33,__zero_reg__3728 22f4 1092 0000 sts EE_Parameter+50,__zero_reg__3729 22f8 1092 0000 sts EE_Parameter+51,__zero_reg__3730 22fc 1092 0000 sts EE_Parameter+52,__zero_reg__3731 2300 1092 0000 sts EE_Parameter+53,__zero_reg__3732 2304 4093 0000 sts EE_Parameter+34,r203733 2308 88E2 ldi r24,lo8(40)3734 230a 8093 0000 sts EE_Parameter+35,r243735 230e 1092 0000 sts EE_Parameter+76,__zero_reg__3736 2312 92E3 ldi r25,lo8(50)3737 2314 9093 0000 sts EE_Parameter+36,r253738 2318 86E9 ldi r24,lo8(-106)3739 231a 8093 0000 sts EE_Parameter+37,r243740 231e 85E0 ldi r24,lo8(5)3741 2320 8093 0000 sts EE_Parameter+38,r243742 2324 9093 0000 sts EE_Parameter+39,r253743 2328 2AE5 ldi r18,lo8(90)3744 232a 2093 0000 sts EE_Parameter+40,r183745 232e 9093 0000 sts EE_Parameter+41,r253746 2332 1092 0000 sts EE_Parameter+75,__zero_reg__3747 2336 2093 0000 sts EE_Parameter+42,r183748 233a 83E4 ldi r24,lo8(67)3749 233c 8093 0000 sts EE_Parameter+43,r243750 2340 86E4 ldi r24,lo8(70)3751 2342 8093 0000 sts EE_Parameter+44,r243752 2346 85E5 ldi r24,lo8(85)3753 2348 8093 0000 sts EE_Parameter+45,r243754 234c 8093 0000 sts EE_Parameter+46,r243755 2350 80E2 ldi r24,lo8(32)3756 2352 8093 0000 sts EE_Parameter+47,r243757 2356 8093 0000 sts EE_Parameter+48,r243758 235a 9093 0000 sts EE_Parameter+49,r253759 235e 8FE5 ldi r24,lo8(95)3760 2360 8093 0000 sts EE_Parameter+54,r243761 2364 83EF ldi r24,lo8(-13)3762 2366 8093 0000 sts EE_Parameter+56,r243763 236a 3093 0000 sts EE_Parameter+55,r193764 236e 3093 0000 sts EE_Parameter+57,r193765 2372 8DEF ldi r24,lo8(-3)3766 2374 8093 0000 sts EE_Parameter+58,r243767 2378 4093 0000 sts EE_Parameter+59,r203768 237c 2093 0000 sts EE_Parameter+60,r183769 2380 2093 0000 sts EE_Parameter+61,r183770 2384 2093 0000 sts EE_Parameter+62,r183771 2388 8BE4 ldi r24,lo8(75)3772 238a 8093 0000 sts EE_Parameter+63,r243773 238e 8093 0000 sts EE_Parameter+64,r243774 2392 8093 0000 sts EE_Parameter+65,r243775 2396 1092 0000 sts EE_Parameter+66,__zero_reg__3776 239a 6093 0000 sts EE_Parameter+67,r223777 239e 5093 0000 sts EE_Parameter+68,r213778 23a2 2093 0000 sts EE_Parameter+69,r183779 23a6 3093 0000 sts EE_Parameter+70,r193780 23aa 4093 0000 sts EE_Parameter+71,r203781 23ae 4093 0000 sts EE_Parameter+72,r203782 23b2 84E0 ldi r24,lo8(4)3783 23b4 8093 0000 sts EE_Parameter+73,r243784 23b8 A0E0 ldi r26,lo8(EE_Parameter+81)3785 23ba B0E0 ldi r27,hi8(EE_Parameter+81)3786 23bc E0E0 ldi r30,lo8(.LC0)3787 23be F0E0 ldi r31,hi8(.LC0)3788 23c0 8CE0 ldi r24,lo8(12)3789 .L628:3790 23c2 0190 ld r0,Z+3791 23c4 0D92 st X+,r03792 23c6 8150 subi r24,lo8(-(-1))3793 23c8 01F4 brne .L6283794 /* epilogue: frame size=0 */3795 23ca 0895 ret3796 /* epilogue end (size=1) */3797 /* function DefaultKonstanten3 size 176 (175) */3799 .data3800 .LC1:3801 000a 4E6F 726D .string "Normal"3801 616C 003802 0011 00 .string ""3803 .text3804 .global DefaultKonstanten23806 DefaultKonstanten2:3807 /* prologue: frame size=0 */3808 /* prologue end (size=0) */3809 23cc 88E6 ldi r24,lo8(104)3810 23ce 8093 0000 sts EE_Parameter+8,r243811 23d2 5EE1 ldi r21,lo8(30)3812 23d4 5093 0000 sts EE_Parameter+9,r213813 23d8 8BEF ldi r24,lo8(-5)3814 23da 8093 0000 sts EE_Parameter+11,r243815 23de 8AE0 ldi r24,lo8(10)3816 23e0 8093 0000 sts EE_Parameter+12,r243817 23e4 5093 0000 sts EE_Parameter+10,r213818 23e8 5093 0000 sts EE_Parameter+14,r213819 23ec 93E0 ldi r25,lo8(3)3820 23ee 9093 0000 sts EE_Parameter+13,r253821 23f2 8CE0 ldi r24,lo8(12)3822 23f4 8093 0000 sts EE_Parameter+15,r243823 23f8 80E1 ldi r24,lo8(16)3824 23fa 8093 0000 sts EE_Parameter+16,r243825 23fe 76E0 ldi r23,lo8(6)3826 2400 7093 0000 sts EE_Parameter+17,r233827 2404 68E0 ldi r22,lo8(8)3828 2406 6093 0000 sts EE_Parameter+18,r223829 240a 86EE ldi r24,lo8(-26)3830 240c 8093 0000 sts EE_Parameter+19,r243831 2410 5093 0000 sts EE_Parameter+20,r213832 2414 80E8 ldi r24,lo8(-128)3833 2416 8093 0000 sts EE_Parameter+21,r243834 241a 80E5 ldi r24,lo8(80)3835 241c 8093 0000 sts EE_Parameter+22,r243836 2420 88E7 ldi r24,lo8(120)3837 2422 8093 0000 sts EE_Parameter+23,r243838 2426 9093 0000 sts EE_Parameter+24,r253839 242a 8EE5 ldi r24,lo8(94)3840 242c 8093 0000 sts EE_Parameter+25,r243841 2430 83E2 ldi r24,lo8(35)3842 2432 8093 0000 sts EE_Parameter+26,r243843 2436 5093 0000 sts EE_Parameter+27,r213844 243a 1092 0000 sts EE_Parameter+28,__zero_reg__3845 243e 30E2 ldi r19,lo8(32)3846 2440 3093 0000 sts EE_Parameter+29,r193847 2444 1092 0000 sts EE_Parameter+30,__zero_reg__3848 2448 1092 0000 sts EE_Parameter+31,__zero_reg__3849 244c 1092 0000 sts EE_Parameter+32,__zero_reg__3850 2450 1092 0000 sts EE_Parameter+33,__zero_reg__3851 2454 1092 0000 sts EE_Parameter+50,__zero_reg__3852 2458 1092 0000 sts EE_Parameter+51,__zero_reg__3853 245c 1092 0000 sts EE_Parameter+52,__zero_reg__3854 2460 1092 0000 sts EE_Parameter+53,__zero_reg__3855 2464 44E6 ldi r20,lo8(100)3856 2466 4093 0000 sts EE_Parameter+34,r203857 246a 88E2 ldi r24,lo8(40)3858 246c 8093 0000 sts EE_Parameter+35,r243859 2470 1092 0000 sts EE_Parameter+76,__zero_reg__3860 2474 92E3 ldi r25,lo8(50)3861 2476 9093 0000 sts EE_Parameter+36,r253862 247a 86E9 ldi r24,lo8(-106)3863 247c 8093 0000 sts EE_Parameter+37,r243864 2480 85E0 ldi r24,lo8(5)3865 2482 8093 0000 sts EE_Parameter+38,r243866 2486 9093 0000 sts EE_Parameter+39,r253867 248a 2AE5 ldi r18,lo8(90)3868 248c 2093 0000 sts EE_Parameter+40,r183869 2490 9093 0000 sts EE_Parameter+41,r253870 2494 1092 0000 sts EE_Parameter+75,__zero_reg__3871 2498 2093 0000 sts EE_Parameter+42,r183872 249c 83E4 ldi r24,lo8(67)3873 249e 8093 0000 sts EE_Parameter+43,r243874 24a2 8CE3 ldi r24,lo8(60)3875 24a4 8093 0000 sts EE_Parameter+44,r243876 24a8 85E5 ldi r24,lo8(85)3877 24aa 8093 0000 sts EE_Parameter+45,r243878 24ae 8093 0000 sts EE_Parameter+46,r243879 24b2 3093 0000 sts EE_Parameter+47,r193880 24b6 3093 0000 sts EE_Parameter+48,r193881 24ba 9BE4 ldi r25,lo8(75)3882 24bc 9093 0000 sts EE_Parameter+49,r253883 24c0 8FE5 ldi r24,lo8(95)3884 24c2 8093 0000 sts EE_Parameter+54,r243885 24c6 83EF ldi r24,lo8(-13)3886 24c8 8093 0000 sts EE_Parameter+56,r243887 24cc 84E1 ldi r24,lo8(20)3888 24ce 8093 0000 sts EE_Parameter+55,r243889 24d2 8093 0000 sts EE_Parameter+57,r243890 24d6 8DEF ldi r24,lo8(-3)3891 24d8 8093 0000 sts EE_Parameter+58,r243892 24dc 4093 0000 sts EE_Parameter+59,r203893 24e0 2093 0000 sts EE_Parameter+60,r183894 24e4 2093 0000 sts EE_Parameter+61,r183895 24e8 2093 0000 sts EE_Parameter+62,r183896 24ec 9093 0000 sts EE_Parameter+63,r253897 24f0 9093 0000 sts EE_Parameter+64,r253898 24f4 9093 0000 sts EE_Parameter+65,r253899 24f8 1092 0000 sts EE_Parameter+66,__zero_reg__3900 24fc 7093 0000 sts EE_Parameter+67,r233901 2500 6093 0000 sts EE_Parameter+68,r223902 2504 2093 0000 sts EE_Parameter+69,r183903 2508 5093 0000 sts EE_Parameter+70,r213904 250c 4093 0000 sts EE_Parameter+71,r203905 2510 4093 0000 sts EE_Parameter+72,r203906 2514 84E0 ldi r24,lo8(4)3907 2516 8093 0000 sts EE_Parameter+73,r243908 251a A0E0 ldi r26,lo8(EE_Parameter+81)3909 251c B0E0 ldi r27,hi8(EE_Parameter+81)3910 251e E0E0 ldi r30,lo8(.LC1)3911 2520 F0E0 ldi r31,hi8(.LC1)3912 2522 8CE0 ldi r24,lo8(12)3913 .L633:3914 2524 0190 ld r0,Z+3915 2526 0D92 st X+,r03916 2528 8150 subi r24,lo8(-(-1))3917 252a 01F4 brne .L6333918 /* epilogue: frame size=0 */3919 252c 0895 ret3920 /* epilogue end (size=1) */3921 /* function DefaultKonstanten2 size 178 (177) */3923 .data3924 .LC2:3925 0012 5370 6F72 .string "Sport"3925 74003926 0018 00 .string ""3927 .text3928 .global DefaultKonstanten13930 DefaultKonstanten1:3931 /* prologue: frame size=0 */3932 /* prologue end (size=0) */3933 252e 88E6 ldi r24,lo8(104)3934 2530 8093 0000 sts EE_Parameter+8,r243935 2534 3EE1 ldi r19,lo8(30)3936 2536 3093 0000 sts EE_Parameter+9,r193937 253a 8BEF ldi r24,lo8(-5)3938 253c 8093 0000 sts EE_Parameter+11,r243939 2540 8AE0 ldi r24,lo8(10)3940 2542 8093 0000 sts EE_Parameter+12,r243941 2546 3093 0000 sts EE_Parameter+10,r193942 254a 3093 0000 sts EE_Parameter+14,r193943 254e E4E0 ldi r30,lo8(4)3944 2550 E093 0000 sts EE_Parameter+13,r303945 2554 5FE0 ldi r21,lo8(15)3946 2556 5093 0000 sts EE_Parameter+15,r213947 255a 3093 0000 sts EE_Parameter+16,r193948 255e 8CE0 ldi r24,lo8(12)3949 2560 8093 0000 sts EE_Parameter+17,r243950 2564 78E0 ldi r23,lo8(8)3951 2566 7093 0000 sts EE_Parameter+18,r233952 256a 86EE ldi r24,lo8(-26)3953 256c 8093 0000 sts EE_Parameter+19,r243954 2570 3093 0000 sts EE_Parameter+20,r193955 2574 80E8 ldi r24,lo8(-128)3956 2576 8093 0000 sts EE_Parameter+21,r243957 257a 80E5 ldi r24,lo8(80)3958 257c 8093 0000 sts EE_Parameter+22,r243959 2580 26E9 ldi r18,lo8(-106)3960 2582 2093 0000 sts EE_Parameter+23,r183961 2586 83E0 ldi r24,lo8(3)3962 2588 8093 0000 sts EE_Parameter+24,r243963 258c 8EE5 ldi r24,lo8(94)3964 258e 8093 0000 sts EE_Parameter+25,r243965 2592 83E2 ldi r24,lo8(35)3966 2594 8093 0000 sts EE_Parameter+26,r243967 2598 3093 0000 sts EE_Parameter+27,r193968 259c 1092 0000 sts EE_Parameter+28,__zero_reg__3969 25a0 60E2 ldi r22,lo8(32)3970 25a2 6093 0000 sts EE_Parameter+29,r223971 25a6 1092 0000 sts EE_Parameter+30,__zero_reg__3972 25aa 1092 0000 sts EE_Parameter+31,__zero_reg__3973 25ae 1092 0000 sts EE_Parameter+32,__zero_reg__3974 25b2 1092 0000 sts EE_Parameter+33,__zero_reg__3975 25b6 1092 0000 sts EE_Parameter+50,__zero_reg__3976 25ba 1092 0000 sts EE_Parameter+51,__zero_reg__3977 25be 1092 0000 sts EE_Parameter+52,__zero_reg__3978 25c2 1092 0000 sts EE_Parameter+53,__zero_reg__3979 25c6 44E6 ldi r20,lo8(100)3980 25c8 4093 0000 sts EE_Parameter+34,r203981 25cc 88E2 ldi r24,lo8(40)3982 25ce 8093 0000 sts EE_Parameter+35,r243983 25d2 1092 0000 sts EE_Parameter+76,__zero_reg__3984 25d6 92E3 ldi r25,lo8(50)3985 25d8 9093 0000 sts EE_Parameter+36,r253986 25dc 2093 0000 sts EE_Parameter+37,r183987 25e0 85E0 ldi r24,lo8(5)3988 25e2 8093 0000 sts EE_Parameter+38,r243989 25e6 9093 0000 sts EE_Parameter+39,r253990 25ea 2AE5 ldi r18,lo8(90)3991 25ec 2093 0000 sts EE_Parameter+40,r183992 25f0 9093 0000 sts EE_Parameter+41,r253993 25f4 1092 0000 sts EE_Parameter+75,__zero_reg__3994 25f8 2093 0000 sts EE_Parameter+42,r183995 25fc 83E4 ldi r24,lo8(67)3996 25fe 8093 0000 sts EE_Parameter+43,r243997 2602 1092 0000 sts EE_Parameter+44,__zero_reg__3998 2606 85E5 ldi r24,lo8(85)3999 2608 8093 0000 sts EE_Parameter+45,r244000 260c 8093 0000 sts EE_Parameter+46,r244001 2610 80E1 ldi r24,lo8(16)4002 2612 8093 0000 sts EE_Parameter+47,r244003 2616 6093 0000 sts EE_Parameter+48,r224004 261a 4093 0000 sts EE_Parameter+49,r204005 261e 8FE5 ldi r24,lo8(95)4006 2620 8093 0000 sts EE_Parameter+54,r244007 2624 83EF ldi r24,lo8(-13)4008 2626 8093 0000 sts EE_Parameter+56,r244009 262a 5093 0000 sts EE_Parameter+55,r214010 262e 5093 0000 sts EE_Parameter+57,r214011 2632 8DEF ldi r24,lo8(-3)4012 2634 8093 0000 sts EE_Parameter+58,r244013 2638 4093 0000 sts EE_Parameter+59,r204014 263c 2093 0000 sts EE_Parameter+60,r184015 2640 2093 0000 sts EE_Parameter+61,r184016 2644 2093 0000 sts EE_Parameter+62,r184017 2648 8BE4 ldi r24,lo8(75)4018 264a 8093 0000 sts EE_Parameter+63,r244019 264e 8093 0000 sts EE_Parameter+64,r244020 2652 8093 0000 sts EE_Parameter+65,r244021 2656 1092 0000 sts EE_Parameter+66,__zero_reg__4022 265a 86E0 ldi r24,lo8(6)4023 265c 8093 0000 sts EE_Parameter+67,r244024 2660 7093 0000 sts EE_Parameter+68,r234025 2664 2093 0000 sts EE_Parameter+69,r184026 2668 3093 0000 sts EE_Parameter+70,r194027 266c 4093 0000 sts EE_Parameter+71,r204028 2670 4093 0000 sts EE_Parameter+72,r204029 2674 E093 0000 sts EE_Parameter+73,r304030 2678 A0E0 ldi r26,lo8(EE_Parameter+81)4031 267a B0E0 ldi r27,hi8(EE_Parameter+81)4032 267c E0E0 ldi r30,lo8(.LC2)4033 267e F0E0 ldi r31,hi8(.LC2)4034 2680 8CE0 ldi r24,lo8(12)4035 .L638:4036 2682 0190 ld r0,Z+4037 2684 0D92 st X+,r04038 2686 8150 subi r24,lo8(-(-1))4039 2688 01F4 brne .L6384040 /* epilogue: frame size=0 */4041 268a 0895 ret4042 /* epilogue end (size=1) */4043 /* function DefaultKonstanten1 size 176 (175) */4045 .global MotorRegler4047 MotorRegler:4048 /* prologue: frame size=46 */4049 268c 2F92 push r24050 268e 3F92 push r34051 2690 4F92 push r44052 2692 5F92 push r54053 2694 6F92 push r64054 2696 7F92 push r74055 2698 8F92 push r84056 269a 9F92 push r94057 269c AF92 push r104058 269e BF92 push r114059 26a0 CF92 push r124060 26a2 DF92 push r134061 26a4 EF92 push r144062 26a6 FF92 push r154063 26a8 0F93 push r164064 26aa 1F93 push r174065 26ac CF93 push r284066 26ae DF93 push r294067 26b0 CDB7 in r28,__SP_L__4068 26b2 DEB7 in r29,__SP_H__4069 26b4 AE97 sbiw r28,464070 26b6 0FB6 in __tmp_reg__,__SREG__4071 26b8 F894 cli4072 26ba DEBF out __SP_H__,r294073 26bc 0FBE out __SREG__,__tmp_reg__4074 26be CDBF out __SP_L__,r284075 /* prologue end (size=26) */4076 26c0 0E94 0000 call Mittelwert4077 26c4 4091 0000 lds r20,PlatinenVersion4078 26c8 4C30 cpi r20,lo8(12)4079 26ca 00F0 brlo .+24080 26cc 00C0 rjmp .L6434081 26ce 299A sbi 37-0x20,14082 .L645:4083 26d0 2091 0000 lds r18,StickGas4084 26d4 3091 0000 lds r19,(StickGas)+14085 26d8 8091 0000 lds r24,MIN_GAS4086 26dc 682F mov r22,r244087 26de 70E0 ldi r23,lo8(0)4088 26e0 665F subi r22,lo8(-(10))4089 26e2 7F4F sbci r23,hi8(-(10))4090 26e4 798B std Y+17,r234091 26e6 688B std Y+16,r224092 26e8 6217 cp r22,r184093 26ea 7307 cpc r23,r194094 26ec 04F4 brge .L6464095 26ee 398B std Y+17,r194096 26f0 288B std Y+16,r184097 .L646:4098 26f2 8091 0000 lds r24,SenderOkay4099 26f6 8436 cpi r24,lo8(100)4100 26f8 00F0 brlo .+24101 26fa 00C0 rjmp .L6474102 26fc 8091 0000 lds r24,PcZugriff4103 2700 8823 tst r244104 2702 01F4 brne .L6494105 2704 8091 0000 lds r24,BeepMuster4106 2708 9091 0000 lds r25,(BeepMuster)+14107 270c 8F5F subi r24,lo8(-1)4108 270e 9F4F sbci r25,hi8(-1)4109 2710 01F4 brne .+44110 2712 0C94 0000 jmp .L10554111 .L649:4112 2716 8091 0000 lds r24,RcLostTimer.30744113 271a 9091 0000 lds r25,(RcLostTimer.3074)+14114 271e 0097 sbiw r24,04115 2720 01F4 brne .+24116 2722 00C0 rjmp .L6524117 2724 0197 sbiw r24,14118 2726 9093 0000 sts (RcLostTimer.3074)+1,r254119 272a 8093 0000 sts RcLostTimer.3074,r244120 272e 4A30 cpi r20,lo8(10)4121 2730 01F4 brne .+24122 2732 00C0 rjmp .L6554123 .L1094:4124 2734 4431 cpi r20,lo8(20)4125 2736 01F4 brne .+24126 2738 00C0 rjmp .L6554127 273a 2898 cbi 37-0x20,04128 .L658:4129 273c 8091 0000 lds r24,modell_fliegt4130 2740 9091 0000 lds r25,(modell_fliegt)+14131 2744 895E subi r24,lo8(1001)4132 2746 9340 sbci r25,hi8(1001)4133 2748 00F4 brsh .+44134 274a 0C94 0000 jmp .L6594135 274e 8091 0000 lds r24,EE_Parameter+264136 2752 E82F mov r30,r244137 2754 F0E0 ldi r31,lo8(0)4138 2756 F98B std Y+17,r314139 2758 E88B std Y+16,r304140 275a F1E0 ldi r31,lo8(1)4141 275c F093 0000 sts Notlandung,r314142 2760 A091 0000 lds r26,EE_Parameter4143 2764 B0E0 ldi r27,lo8(0)4144 2766 AA0F lsl r264145 2768 BB1F rol r274146 276a FD01 movw r30,r264147 276c E050 subi r30,lo8(-(PPM_diff))4148 276e F040 sbci r31,hi8(-(PPM_diff))4149 2770 1182 std Z+1,__zero_reg__4150 2772 1082 st Z,__zero_reg__4151 2774 E091 0000 lds r30,EE_Parameter+14152 2778 2E2F mov r18,r304153 277a 30E0 ldi r19,lo8(0)4154 277c 220F lsl r184155 277e 331F rol r194156 2780 C901 movw r24,r184157 2782 8050 subi r24,lo8(-(PPM_diff))4158 2784 9040 sbci r25,hi8(-(PPM_diff))4159 2786 FC01 movw r30,r244160 2788 1182 std Z+1,__zero_reg__4161 278a 1082 st Z,__zero_reg__4162 278c A050 subi r26,lo8(-(PPM_in))4163 278e B040 sbci r27,hi8(-(PPM_in))4164 2790 1196 adiw r26,14165 2792 1C92 st X,__zero_reg__4166 2794 1E92 st -X,__zero_reg__4167 2796 2050 subi r18,lo8(-(PPM_in))4168 2798 3040 sbci r19,hi8(-(PPM_in))4169 279a D901 movw r26,r184170 279c 1196 adiw r26,14171 279e 1C92 st X,__zero_reg__4172 27a0 1E92 st -X,__zero_reg__4173 27a2 E091 0000 lds r30,EE_Parameter+34174 27a6 F0E0 ldi r31,lo8(0)4175 27a8 EE0F lsl r304176 27aa FF1F rol r314177 27ac E050 subi r30,lo8(-(PPM_in))4178 27ae F040 sbci r31,hi8(-(PPM_in))4179 27b0 1182 std Z+1,__zero_reg__4180 27b2 1082 st Z,__zero_reg__4181 .L661:4182 27b4 8091 0000 lds r24,NewPpmData4183 27b8 8150 subi r24,lo8(-(-1))4184 27ba 8093 0000 sts NewPpmData,r244185 27be 8091 0000 lds r24,NewPpmData4186 27c2 8F3F cpi r24,lo8(-1)4187 27c4 01F4 brne .+24188 27c6 00C0 rjmp .L7254189 27c8 B091 0000 lds r27,Notlandung4190 27cc BFA3 std Y+39,r274191 27ce BB23 tst r274192 27d0 01F0 breq .+24193 27d2 00C0 rjmp .L7254194 27d4 B091 0000 lds r27,EE_Parameter+84195 .L727:4196 27d8 2091 0000 lds r18,Looping_Roll4197 27dc 2223 tst r184198 27de 01F4 brne .+44199 27e0 0C94 0000 jmp .L10564200 .L791:4201 27e4 8091 0000 lds r24,EE_Parameter+394202 27e8 90E0 ldi r25,lo8(0)4203 27ea 6889 ldd r22,Y+164204 27ec 7989 ldd r23,Y+174205 27ee 8617 cp r24,r224206 27f0 9707 cpc r25,r234207 27f2 04F4 brge .L7944208 27f4 998B std Y+17,r254209 27f6 888B std Y+16,r244210 .L794:4211 27f8 71E0 ldi r23,lo8(1)4212 27fa 7093 0000 sts TrichterFlug,r234213 27fe 8B2F mov r24,r274214 2800 90E0 ldi r25,lo8(0)4215 2802 9B87 std Y+11,r254216 2804 8A87 std Y+10,r244217 .L793:4218 2806 9FA1 ldd r25,Y+394219 2808 9923 tst r254220 280a 01F0 breq .L7954221 280c 1092 0000 sts (StickGier)+1,__zero_reg__4222 2810 1092 0000 sts StickGier,__zero_reg__4223 2814 1092 0000 sts (StickNick)+1,__zero_reg__4224 2818 1092 0000 sts StickNick,__zero_reg__4225 281c 1092 0000 sts (StickRoll)+1,__zero_reg__4226 2820 1092 0000 sts StickRoll,__zero_reg__4227 2824 8AE5 ldi r24,lo8(90)4228 2826 8093 0000 sts GyroFaktor,r244229 282a A8E7 ldi r26,lo8(120)4230 282c A093 0000 sts IntegralFaktor,r264231 2830 1092 0000 sts Looping_Roll,__zero_reg__4232 2834 1092 0000 sts Looping_Nick,__zero_reg__4233 .L795:4234 2838 2091 0000 lds r18,IntegralNick4235 283c 3091 0000 lds r19,(IntegralNick)+14236 2840 4091 0000 lds r20,(IntegralNick)+24237 2844 5091 0000 lds r21,(IntegralNick)+34238 2848 2983 std Y+1,r184239 284a 3A83 std Y+2,r194240 284c 4B83 std Y+3,r204241 284e 5C83 std Y+4,r214242 2850 4091 0000 lds r20,MittelIntegralNick4243 2854 5091 0000 lds r21,(MittelIntegralNick)+14244 2858 6091 0000 lds r22,(MittelIntegralNick)+24245 285c 7091 0000 lds r23,(MittelIntegralNick)+34246 2860 48A7 std Y+40,r204247 2862 59A7 std Y+41,r214248 2864 6AA7 std Y+42,r224249 2866 7BA7 std Y+43,r234250 2868 8981 ldd r24,Y+14251 286a 9A81 ldd r25,Y+24252 286c AB81 ldd r26,Y+34253 286e BC81 ldd r27,Y+44254 2870 480F add r20,r244255 2872 591F adc r21,r254256 2874 6A1F adc r22,r264257 2876 7B1F adc r23,r274258 2878 4093 0000 sts MittelIntegralNick,r204259 287c 5093 0000 sts (MittelIntegralNick)+1,r214260 2880 6093 0000 sts (MittelIntegralNick)+2,r224261 2884 7093 0000 sts (MittelIntegralNick)+3,r234262 2888 2091 0000 lds r18,IntegralRoll4263 288c 3091 0000 lds r19,(IntegralRoll)+14264 2890 4091 0000 lds r20,(IntegralRoll)+24265 2894 5091 0000 lds r21,(IntegralRoll)+34266 2898 2D83 std Y+5,r184267 289a 3E83 std Y+6,r194268 289c 4F83 std Y+7,r204269 289e 5887 std Y+8,r214270 28a0 2090 0000 lds r2,MittelIntegralRoll4271 28a4 3090 0000 lds r3,(MittelIntegralRoll)+14272 28a8 4090 0000 lds r4,(MittelIntegralRoll)+24273 28ac 5090 0000 lds r5,(MittelIntegralRoll)+34274 28b0 220E add r2,r184275 28b2 331E adc r3,r194276 28b4 441E adc r4,r204277 28b6 551E adc r5,r214278 28b8 2092 0000 sts MittelIntegralRoll,r24279 28bc 3092 0000 sts (MittelIntegralRoll)+1,r34280 28c0 4092 0000 sts (MittelIntegralRoll)+2,r44281 28c4 5092 0000 sts (MittelIntegralRoll)+3,r54282 28c8 4091 0000 lds r20,IntegralNick24283 28cc 5091 0000 lds r21,(IntegralNick2)+14284 28d0 6091 0000 lds r22,(IntegralNick2)+24285 28d4 7091 0000 lds r23,(IntegralNick2)+34286 28d8 49A3 std Y+33,r204287 28da 5AA3 std Y+34,r214288 28dc 6BA3 std Y+35,r224289 28de 7CA3 std Y+36,r234290 28e0 8091 0000 lds r24,MittelIntegralNick24291 28e4 9091 0000 lds r25,(MittelIntegralNick2)+14292 28e8 A091 0000 lds r26,(MittelIntegralNick2)+24293 28ec B091 0000 lds r27,(MittelIntegralNick2)+34294 28f0 840F add r24,r204295 28f2 951F adc r25,r214296 28f4 A61F adc r26,r224297 28f6 B71F adc r27,r234298 28f8 8093 0000 sts MittelIntegralNick2,r244299 28fc 9093 0000 sts (MittelIntegralNick2)+1,r254300 2900 A093 0000 sts (MittelIntegralNick2)+2,r264301 2904 B093 0000 sts (MittelIntegralNick2)+3,r274302 2908 6091 0000 lds r22,IntegralRoll24303 290c 7091 0000 lds r23,(IntegralRoll2)+14304 2910 8091 0000 lds r24,(IntegralRoll2)+24305 2914 9091 0000 lds r25,(IntegralRoll2)+34306 2918 6D8F std Y+29,r224307 291a 7E8F std Y+30,r234308 291c 8F8F std Y+31,r244309 291e 98A3 std Y+32,r254310 2920 8091 0000 lds r24,MittelIntegralRoll24311 2924 9091 0000 lds r25,(MittelIntegralRoll2)+14312 2928 A091 0000 lds r26,(MittelIntegralRoll2)+24313 292c B091 0000 lds r27,(MittelIntegralRoll2)+34314 2930 2D8D ldd r18,Y+294315 2932 3E8D ldd r19,Y+304316 2934 4F8D ldd r20,Y+314317 2936 58A1 ldd r21,Y+324318 2938 820F add r24,r184319 293a 931F adc r25,r194320 293c A41F adc r26,r204321 293e B51F adc r27,r214322 2940 8093 0000 sts MittelIntegralRoll2,r244323 2944 9093 0000 sts (MittelIntegralRoll2)+1,r254324 2948 A093 0000 sts (MittelIntegralRoll2)+2,r264325 294c B093 0000 sts (MittelIntegralRoll2)+3,r274326 2950 3091 0000 lds r19,Looping_Nick4327 2954 3987 std Y+9,r194328 2956 3323 tst r194329 2958 01F4 brne .+44330 295a 0C94 0000 jmp .L10574331 295e 1092 0000 sts IntegralAccNick,__zero_reg__4332 2962 1092 0000 sts (IntegralAccNick)+1,__zero_reg__4333 2966 1092 0000 sts (IntegralAccNick)+2,__zero_reg__4334 296a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__4335 296e 1092 0000 sts IntegralAccRoll,__zero_reg__4336 2972 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__4337 2976 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__4338 297a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__4339 297e 1092 0000 sts MittelIntegralNick,__zero_reg__4340 2982 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__4341 2986 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__4342 298a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__4343 298e 1092 0000 sts MittelIntegralRoll,__zero_reg__4344 2992 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__4345 2996 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__4346 299a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__4347 299e 1092 0000 sts MittelIntegralNick2,__zero_reg__4348 29a2 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__4349 29a6 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__4350 29aa 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__4351 29ae 1092 0000 sts MittelIntegralRoll2,__zero_reg__4352 29b2 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__4353 29b6 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__4354 29ba 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__4355 29be 8091 0000 lds r24,Mess_IntegralNick4356 29c2 9091 0000 lds r25,(Mess_IntegralNick)+14357 29c6 A091 0000 lds r26,(Mess_IntegralNick)+24358 29ca B091 0000 lds r27,(Mess_IntegralNick)+34359 29ce 8093 0000 sts Mess_IntegralNick2,r244360 29d2 9093 0000 sts (Mess_IntegralNick2)+1,r254361 29d6 A093 0000 sts (Mess_IntegralNick2)+2,r264362 29da B093 0000 sts (Mess_IntegralNick2)+3,r274363 29de 8091 0000 lds r24,Mess_IntegralRoll4364 29e2 9091 0000 lds r25,(Mess_IntegralRoll)+14365 29e6 A091 0000 lds r26,(Mess_IntegralRoll)+24366 29ea B091 0000 lds r27,(Mess_IntegralRoll)+34367 29ee 8093 0000 sts Mess_IntegralRoll2,r244368 29f2 9093 0000 sts (Mess_IntegralRoll2)+1,r254369 29f6 A093 0000 sts (Mess_IntegralRoll2)+2,r264370 29fa B093 0000 sts (Mess_IntegralRoll2)+3,r274371 29fe 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__4372 2a02 1092 0000 sts ZaehlMessungen,__zero_reg__4373 2a06 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4374 2a0a 1092 0000 sts LageKorrekturNick,__zero_reg__4375 2a0e 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4376 2a12 1092 0000 sts LageKorrekturRoll,__zero_reg__4377 2a16 5091 0000 lds r21,Looping_Roll4378 2a1a 5CA7 std Y+44,r214379 .L801:4380 2a1c 8091 0000 lds r24,ZaehlMessungen4381 2a20 9091 0000 lds r25,(ZaehlMessungen)+14382 2a24 8F3F cpi r24,2554383 2a26 9105 cpc r25,__zero_reg__4384 2a28 01F0 breq .+24385 2a2a 00F4 brsh .+44386 2a2c 0C94 0000 jmp .L10464387 2a30 B985 ldd r27,Y+94388 2a32 BB23 tst r274389 2a34 01F4 brne .L8314390 2a36 ECA5 ldd r30,Y+444391 2a38 EE23 tst r304392 2a3a 01F4 brne .+44393 2a3c 0C94 0000 jmp .L10584394 .L831:4395 2a40 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4396 2a44 1092 0000 sts LageKorrekturRoll,__zero_reg__4397 2a48 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4398 2a4c 1092 0000 sts LageKorrekturNick,__zero_reg__4399 2a50 1EA2 std Y+38,__zero_reg__4400 2a52 1092 0000 sts TrichterFlug,__zero_reg__4401 2a56 2091 0000 lds r18,MittelIntegralNick4402 2a5a 3091 0000 lds r19,(MittelIntegralNick)+14403 2a5e 4091 0000 lds r20,(MittelIntegralNick)+24404 2a62 5091 0000 lds r21,(MittelIntegralNick)+34405 2a66 28A7 std Y+40,r184406 2a68 39A7 std Y+41,r194407 2a6a 4AA7 std Y+42,r204408 2a6c 5BA7 std Y+43,r214409 2a6e 2090 0000 lds r2,MittelIntegralRoll4410 2a72 3090 0000 lds r3,(MittelIntegralRoll)+14411 2a76 4090 0000 lds r4,(MittelIntegralRoll)+24412 2a7a 5090 0000 lds r5,(MittelIntegralRoll)+34413 .L896:4414 2a7e 3091 0000 lds r19,IntegralFaktor4415 2a82 3DA3 std Y+37,r194416 2a84 3323 tst r194417 2a86 01F4 brne .L8984418 2a88 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4419 2a8c 1092 0000 sts LageKorrekturRoll,__zero_reg__4420 2a90 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4421 2a94 1092 0000 sts LageKorrekturNick,__zero_reg__4422 .L898:4423 2a98 48A5 ldd r20,Y+404424 2a9a 59A5 ldd r21,Y+414425 2a9c 6AA5 ldd r22,Y+424426 2a9e 7BA5 ldd r23,Y+434427 2aa0 4093 0000 sts MittelIntegralNick_Alt.3104,r204428 2aa4 5093 0000 sts (MittelIntegralNick_Alt.3104)+1,r214429 2aa8 6093 0000 sts (MittelIntegralNick_Alt.3104)+2,r224430 2aac 7093 0000 sts (MittelIntegralNick_Alt.3104)+3,r234431 2ab0 2092 0000 sts MittelIntegralRoll_Alt.3105,r24432 2ab4 3092 0000 sts (MittelIntegralRoll_Alt.3105)+1,r34433 2ab8 4092 0000 sts (MittelIntegralRoll_Alt.3105)+2,r44434 2abc 5092 0000 sts (MittelIntegralRoll_Alt.3105)+3,r54435 2ac0 1092 0000 sts IntegralAccNick,__zero_reg__4436 2ac4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__4437 2ac8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__4438 2acc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__4439 2ad0 1092 0000 sts IntegralAccRoll,__zero_reg__4440 2ad4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__4441 2ad8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__4442 2adc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__4443 2ae0 1092 0000 sts IntegralAccZ,__zero_reg__4444 2ae4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__4445 2ae8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__4446 2aec 1092 0000 sts (IntegralAccZ)+3,__zero_reg__4447 2af0 1092 0000 sts MittelIntegralNick,__zero_reg__4448 2af4 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__4449 2af8 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__4450 2afc 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__4451 2b00 1092 0000 sts MittelIntegralRoll,__zero_reg__4452 2b04 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__4453 2b08 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__4454 2b0c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__4455 2b10 1092 0000 sts MittelIntegralNick2,__zero_reg__4456 2b14 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__4457 2b18 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__4458 2b1c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__4459 2b20 1092 0000 sts MittelIntegralRoll2,__zero_reg__4460 2b24 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__4461 2b28 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__4462 2b2c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__4463 2b30 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__4464 2b34 1092 0000 sts ZaehlMessungen,__zero_reg__4465 2b38 E090 0000 lds r14,StickGier4466 2b3c F090 0000 lds r15,(StickGier)+14467 2b40 6701 movw r12,r144468 2b42 F7FE sbrs r15,74469 2b44 00C0 rjmp .+44470 2b46 0C94 0000 jmp .L10594471 .L900:4472 2b4a 70E1 ldi r23,lo8(16)4473 2b4c C716 cp r12,r234474 2b4e D104 cpc r13,__zero_reg__4475 2b50 04F0 brlt .L9014476 2b52 88EE ldi r24,lo8(1000)4477 2b54 93E0 ldi r25,hi8(1000)4478 2b56 9093 0000 sts (KompassSignalSchlecht)+1,r254479 2b5a 8093 0000 sts KompassSignalSchlecht,r244480 2b5e 8A85 ldd r24,Y+104481 2b60 84FD sbrc r24,44482 2b62 00C0 rjmp .L9014483 2b64 81E0 ldi r24,lo8(1)4484 2b66 8093 0000 sts NeueKompassRichtungMerken.3088,r244485 .L901:4486 2b6a 0091 0000 lds r16,EE_Parameter+174487 2b6e B701 movw r22,r144488 2b70 8827 clr r244489 2b72 77FD sbrc r23,74490 2b74 8095 com r244491 2b76 982F mov r25,r244492 2b78 202F mov r18,r164493 2b7a 30E0 ldi r19,lo8(0)4494 2b7c 40E0 ldi r20,lo8(0)4495 2b7e 50E0 ldi r21,hi8(0)4496 2b80 0E94 0000 call __mulsi34497 2b84 9601 movw r18,r124498 2b86 4427 clr r204499 2b88 37FD sbrc r19,74500 2b8a 4095 com r204501 2b8c 542F mov r21,r204502 2b8e 0E94 0000 call __mulsi34503 2b92 20E0 ldi r18,lo8(512)4504 2b94 32E0 ldi r19,hi8(512)4505 2b96 40E0 ldi r20,hlo8(512)4506 2b98 50E0 ldi r21,hhi8(512)4507 2b9a 0E94 0000 call __divmodsi44508 2b9e 10E0 ldi r17,lo8(0)4509 2ba0 0E9D mul r16,r144510 2ba2 B001 movw r22,r04511 2ba4 0F9D mul r16,r154512 2ba6 700D add r23,r04513 2ba8 1E9D mul r17,r144514 2baa 700D add r23,r04515 2bac 1124 clr r14516 2bae 77FF sbrs r23,74517 2bb0 00C0 rjmp .+44518 2bb2 0C94 0000 jmp .L10604519 .L904:4520 2bb6 7595 asr r234521 2bb8 6795 ror r224522 2bba 7595 asr r234523 2bbc 6795 ror r224524 2bbe 260F add r18,r224525 2bc0 371F adc r19,r234526 2bc2 A901 movw r20,r184527 2bc4 6627 clr r224528 2bc6 57FD sbrc r21,74529 2bc8 6095 com r224530 2bca 762F mov r23,r224531 2bcc 488F std Y+24,r204532 2bce 598F std Y+25,r214533 2bd0 6A8F std Y+26,r224534 2bd2 7B8F std Y+27,r234535 2bd4 4093 0000 sts sollGier.3069,r204536 2bd8 5093 0000 sts (sollGier.3069)+1,r214537 2bdc 6093 0000 sts (sollGier.3069)+2,r224538 2be0 7093 0000 sts (sollGier.3069)+3,r234539 2be4 8091 0000 lds r24,Mess_Integral_Gier4540 2be8 9091 0000 lds r25,(Mess_Integral_Gier)+14541 2bec A091 0000 lds r26,(Mess_Integral_Gier)+24542 2bf0 B091 0000 lds r27,(Mess_Integral_Gier)+34543 2bf4 841B sub r24,r204544 2bf6 950B sbc r25,r214545 2bf8 A60B sbc r26,r224546 2bfa B70B sbc r27,r234547 2bfc 8093 0000 sts Mess_Integral_Gier,r244548 2c00 9093 0000 sts (Mess_Integral_Gier)+1,r254549 2c04 A093 0000 sts (Mess_Integral_Gier)+2,r264550 2c08 B093 0000 sts (Mess_Integral_Gier)+3,r274551 2c0c 8135 cpi r24,lo8(50001)4552 2c0e 53EC ldi r21,hi8(50001)4553 2c10 9507 cpc r25,r214554 2c12 50E0 ldi r21,hlo8(50001)4555 2c14 A507 cpc r26,r214556 2c16 50E0 ldi r21,hhi8(50001)4557 2c18 B507 cpc r27,r214558 2c1a 04F4 brge .+44559 2c1c 0C94 0000 jmp .L9054560 2c20 80E5 ldi r24,lo8(50000)4561 2c22 93EC ldi r25,hi8(50000)4562 2c24 A0E0 ldi r26,hlo8(50000)4563 2c26 B0E0 ldi r27,hhi8(50000)4564 2c28 8093 0000 sts Mess_Integral_Gier,r244565 2c2c 9093 0000 sts (Mess_Integral_Gier)+1,r254566 2c30 A093 0000 sts (Mess_Integral_Gier)+2,r264567 2c34 B093 0000 sts (Mess_Integral_Gier)+3,r274568 .L907:4569 2c38 2090 0000 lds r2,KompassValue4570 2c3c 3090 0000 lds r3,(KompassValue)+14571 2c40 2114 cp r2,__zero_reg__4572 2c42 3104 cpc r3,__zero_reg__4573 2c44 01F4 brne .+24574 2c46 00C0 rjmp .L10494575 2c48 7A85 ldd r23,Y+104576 2c4a 73FF sbrs r23,34577 2c4c 00C0 rjmp .L10494578 2c4e 6981 ldd r22,Y+14579 2c50 7A81 ldd r23,Y+24580 2c52 8B81 ldd r24,Y+34581 2c54 9C81 ldd r25,Y+44582 2c56 20E0 ldi r18,lo8(512)4583 2c58 32E0 ldi r19,hi8(512)4584 2c5a 40E0 ldi r20,hlo8(512)4585 2c5c 50E0 ldi r21,hhi8(512)4586 2c5e 0E94 0000 call __divmodsi44587 2c62 8901 movw r16,r184588 2c64 37FF sbrs r19,74589 2c66 00C0 rjmp .+44590 2c68 0C94 0000 jmp .L10614591 .L912:4592 2c6c 6D81 ldd r22,Y+54593 2c6e 7E81 ldd r23,Y+64594 2c70 8F81 ldd r24,Y+74595 2c72 9885 ldd r25,Y+84596 2c74 20E0 ldi r18,lo8(512)4597 2c76 32E0 ldi r19,hi8(512)4598 2c78 40E0 ldi r20,hlo8(512)4599 2c7a 50E0 ldi r21,hhi8(512)4600 2c7c 0E94 0000 call __divmodsi44601 2c80 6901 movw r12,r184602 2c82 37FF sbrs r19,74603 2c84 00C0 rjmp .+44604 2c86 0C94 0000 jmp .L10624605 .L913:4606 2c8a C016 cp r12,r164607 2c8c D106 cpc r13,r174608 2c8e 04F4 brge .+44609 2c90 0C94 0000 jmp .L10634610 .L914:4611 2c94 4090 0000 lds r4,ErsatzKompass4612 2c98 5090 0000 lds r5,(ErsatzKompass)+14613 2c9c 6090 0000 lds r6,(ErsatzKompass)+24614 2ca0 7090 0000 lds r7,(ErsatzKompass)+34615 2ca4 8091 0000 lds r24,GIER_GRAD_FAKTOR4616 2ca8 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+14617 2cac A091 0000 lds r26,(GIER_GRAD_FAKTOR)+24618 2cb0 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+34619 2cb4 8C8B std Y+20,r244620 2cb6 9D8B std Y+21,r254621 2cb8 AE8B std Y+22,r264622 2cba BF8B std Y+23,r274623 2cbc 8090 0000 lds r8,MesswertGier4624 2cc0 9090 0000 lds r9,(MesswertGier)+14625 2cc4 C401 movw r24,r84626 2cc6 97FE sbrs r9,74627 2cc8 00C0 rjmp .+44628 2cca 0C94 0000 jmp .L10644629 .L916:4630 2cce 8138 cpi r24,1294631 2cd0 9105 cpc r25,__zero_reg__4632 2cd2 04F0 brlt .+44633 2cd4 0C94 0000 jmp .L10654634 2cd8 ACE1 ldi r26,lo8(540)4635 2cda B2E0 ldi r27,hi8(540)4636 2cdc 2A0E add r2,r264637 2cde 3B1E adc r3,r274638 2ce0 7101 movw r14,r24639 2ce2 0027 clr r164640 2ce4 F7FC sbrc r15,74641 2ce6 0095 com r164642 2ce8 102F mov r17,r164643 2cea E4EE ldi r30,lo8(-540)4644 2cec FDEF ldi r31,hi8(-540)4645 2cee 2E0E add r2,r304646 2cf0 3F1E adc r3,r314647 2cf2 C301 movw r24,r64648 2cf4 B201 movw r22,r44649 2cf6 2C89 ldd r18,Y+204650 2cf8 3D89 ldd r19,Y+214651 2cfa 4E89 ldd r20,Y+224652 2cfc 5F89 ldd r21,Y+234653 2cfe 0E94 0000 call __divmodsi44654 2d02 E21A sub r14,r184655 2d04 F30A sbc r15,r194656 2d06 040B sbc r16,r204657 2d08 150B sbc r17,r214658 2d0a C801 movw r24,r164659 2d0c B701 movw r22,r144660 2d0e 28E6 ldi r18,lo8(360)4661 2d10 31E0 ldi r19,hi8(360)4662 2d12 40E0 ldi r20,hlo8(360)4663 2d14 50E0 ldi r21,hhi8(360)4664 2d16 0E94 0000 call __divmodsi44665 2d1a 645B subi r22,lo8(-(-180))4666 2d1c 7040 sbci r23,hi8(-(-180))4667 2d1e 8B01 movw r16,r224668 2d20 000F lsl r164669 2d22 111F rol r174670 2d24 000F lsl r164671 2d26 111F rol r174672 2d28 000F lsl r164673 2d2a 111F rol r174674 .L918:4675 2d2c 2091 0000 lds r18,NeueKompassRichtungMerken.30884676 2d30 E090 0000 lds r14,KompassSignalSchlecht4677 2d34 F090 0000 lds r15,(KompassSignalSchlecht)+14678 2d38 E114 cp r14,__zero_reg__4679 2d3a F104 cpc r15,__zero_reg__4680 2d3c 01F4 brne .L9194681 2d3e F9E1 ldi r31,lo8(25)4682 2d40 CF16 cp r12,r314683 2d42 D104 cpc r13,__zero_reg__4684 2d44 04F4 brge .L9194685 2d46 8091 0000 lds r24,GierGyroFehler4686 2d4a 9091 0000 lds r25,(GierGyroFehler)+14687 2d4e 860F add r24,r224688 2d50 971F adc r25,r234689 2d52 9093 0000 sts (GierGyroFehler)+1,r254690 2d56 8093 0000 sts GierGyroFehler,r244691 2d5a 2223 tst r184692 2d5c 01F0 breq .+44693 2d5e 0C94 0000 jmp .L10664694 .L919:4695 2d62 B601 movw r22,r124696 2d64 D7FE sbrs r13,74697 2d66 00C0 rjmp .+44698 2d68 0C94 0000 jmp .L10674699 .L923:4700 2d6c 7595 asr r234701 2d6e 6795 ror r224702 2d70 7595 asr r234703 2d72 6795 ror r224704 2d74 7595 asr r234705 2d76 6795 ror r224706 2d78 6F5F subi r22,lo8(-(1))4707 2d7a 7F4F sbci r23,hi8(-(1))4708 2d7c C801 movw r24,r164709 2d7e 0E94 0000 call __divmodhi44710 2d82 9B01 movw r18,r224711 2d84 A901 movw r20,r184712 2d86 6627 clr r224713 2d88 57FD sbrc r21,74714 2d8a 6095 com r224715 2d8c 762F mov r23,r224716 2d8e 440D add r20,r44717 2d90 551D adc r21,r54718 2d92 661D adc r22,r64719 2d94 771D adc r23,r74720 2d96 4093 0000 sts ErsatzKompass,r204721 2d9a 5093 0000 sts (ErsatzKompass)+1,r214722 2d9e 6093 0000 sts (ErsatzKompass)+2,r224723 2da2 7093 0000 sts (ErsatzKompass)+3,r234724 2da6 8091 0000 lds r24,Parameter_KompassWirkung4725 2daa A82E mov r10,r244726 2dac BB24 clr r114727 2dae CA9C mul r12,r104728 2db0 9001 movw r18,r04729 2db2 CB9C mul r12,r114730 2db4 300D add r19,r04731 2db6 DA9C mul r13,r104732 2db8 300D add r19,r04733 2dba 1124 clr r14734 2dbc 37FF sbrs r19,74735 2dbe 00C0 rjmp .+44736 2dc0 0C94 0000 jmp .L10684737 .L924:4738 2dc4 3595 asr r194739 2dc6 2795 ror r184740 2dc8 3595 asr r194741 2dca 2795 ror r184742 2dcc 3595 asr r194743 2dce 2795 ror r184744 2dd0 3595 asr r194745 2dd2 2795 ror r184746 2dd4 3595 asr r194747 2dd6 2795 ror r184748 2dd8 6501 movw r12,r104749 2dda C21A sub r12,r184750 2ddc D30A sbc r13,r194751 2dde D7FE sbrs r13,74752 2de0 00C0 rjmp .+44753 2de2 0C94 0000 jmp .L9254754 2de6 E114 cp r14,__zero_reg__4755 2de8 F104 cpc r15,__zero_reg__4756 2dea 01F0 breq .+44757 2dec 0C94 0000 jmp .L9274758 2df0 6090 0000 lds r6,MaxStickRoll4759 2df4 7090 0000 lds r7,(MaxStickRoll)+14760 2df8 8091 0000 lds r24,MaxStickNick4761 2dfc 9091 0000 lds r25,(MaxStickNick)+14762 2e00 680E add r6,r244763 2e02 791E adc r7,r254764 2e04 77FE sbrs r7,74765 2e06 00C0 rjmp .+44766 2e08 0C94 0000 jmp .L10694767 .L929:4768 2e0c 7594 asr r74769 2e0e 6794 ror r64770 2e10 7594 asr r74771 2e12 6794 ror r64772 2e14 7594 asr r74773 2e16 6794 ror r64774 2e18 A0E4 ldi r26,lo8(64)4775 2e1a B0E0 ldi r27,hi8(64)4776 2e1c 6A0E add r6,r264777 2e1e 7B1E adc r7,r274778 2e20 8091 0000 lds r24,KompassStartwert4779 2e24 9091 0000 lds r25,(KompassStartwert)+14780 2e28 AA27 clr r264781 2e2a 97FD sbrc r25,74782 2e2c A095 com r264783 2e2e BA2F mov r27,r264784 2e30 ECE1 ldi r30,lo8(540)4785 2e32 EE2E mov r14,r304786 2e34 E2E0 ldi r30,hi8(540)4787 2e36 FE2E mov r15,r304788 2e38 012D mov r16,__zero_reg__4789 2e3a 112D mov r17,__zero_reg__4790 2e3c E81A sub r14,r244791 2e3e F90A sbc r15,r254792 2e40 0A0B sbc r16,r264793 2e42 1B0B sbc r17,r274794 2e44 CB01 movw r24,r224795 2e46 BA01 movw r22,r204796 2e48 2C89 ldd r18,Y+204797 2e4a 3D89 ldd r19,Y+214798 2e4c 4E89 ldd r20,Y+224799 2e4e 5F89 ldd r21,Y+234800 2e50 0E94 0000 call __divmodsi44801 2e54 E20E add r14,r184802 2e56 F31E adc r15,r194803 2e58 041F adc r16,r204804 2e5a 151F adc r17,r214805 2e5c C801 movw r24,r164806 2e5e B701 movw r22,r144807 2e60 28E6 ldi r18,lo8(360)4808 2e62 31E0 ldi r19,hi8(360)4809 2e64 40E0 ldi r20,hlo8(360)4810 2e66 50E0 ldi r21,hhi8(360)4811 2e68 0E94 0000 call __divmodsi44812 2e6c 645B subi r22,lo8(-(-180))4813 2e6e 7040 sbci r23,hi8(-(-180))4814 2e70 6C9D mul r22,r124815 2e72 C001 movw r24,r04816 2e74 6D9D mul r22,r134817 2e76 900D add r25,r04818 2e78 7C9D mul r23,r124819 2e7a 900D add r25,r04820 2e7c 1124 clr r14821 2e7e B301 movw r22,r64822 2e80 0E94 0000 call __divmodhi44823 2e84 9501 movw r18,r104824 2e86 220F lsl r184825 2e88 331F rol r194826 2e8a 2A0D add r18,r104827 2e8c 3B1D adc r19,r114828 2e8e 2617 cp r18,r224829 2e90 3707 cpc r19,r234830 2e92 04F4 brge .+44831 2e94 0C94 0000 jmp .L9304832 2e98 3095 com r194833 2e9a 2195 neg r184834 2e9c 3F4F sbci r19,lo8(-1)4835 2e9e 6217 cp r22,r184836 2ea0 7307 cpc r23,r194837 2ea2 04F4 brge .L9324838 2ea4 B901 movw r22,r184839 .L932:4840 2ea6 9B01 movw r18,r224841 2ea8 4427 clr r204842 2eaa 37FD sbrc r19,74843 2eac 4095 com r204844 2eae 542F mov r21,r204845 2eb0 8091 0000 lds r24,Mess_Integral_Gier4846 2eb4 9091 0000 lds r25,(Mess_Integral_Gier)+14847 2eb8 A091 0000 lds r26,(Mess_Integral_Gier)+24848 2ebc B091 0000 lds r27,(Mess_Integral_Gier)+34849 2ec0 820F add r24,r184850 2ec2 931F adc r25,r194851 2ec4 A41F adc r26,r204852 2ec6 B51F adc r27,r214853 2ec8 8093 0000 sts Mess_Integral_Gier,r244854 2ecc 9093 0000 sts (Mess_Integral_Gier)+1,r254855 2ed0 A093 0000 sts (Mess_Integral_Gier)+2,r264856 2ed4 B093 0000 sts (Mess_Integral_Gier)+3,r274857 2ed8 00C0 rjmp .L9094858 .L647:4859 2eda 8091 0000 lds r24,SenderOkay4860 2ede 8D38 cpi r24,lo8(-115)4861 2ee0 00F4 brsh .+24862 2ee2 00C0 rjmp .L6614863 2ee4 1092 0000 sts Notlandung,__zero_reg__4864 2ee8 8091 0000 lds r24,EE_Parameter+274865 2eec 22E3 ldi r18,lo8(50)4866 2eee 829F mul r24,r184867 2ef0 C001 movw r24,r04868 2ef2 1124 clr r14869 2ef4 9093 0000 sts (RcLostTimer.3074)+1,r254870 2ef8 8093 0000 sts RcLostTimer.3074,r244871 2efc E889 ldd r30,Y+164872 2efe F989 ldd r31,Y+174873 2f00 B997 sbiw r30,414874 2f02 04F0 brlt .L6634875 2f04 8091 0000 lds r24,MotorenEin4876 2f08 8823 tst r244877 2f0a 01F0 breq .L6634878 2f0c 8091 0000 lds r24,modell_fliegt4879 2f10 9091 0000 lds r25,(modell_fliegt)+14880 2f14 FFEF ldi r31,hi8(-1)4881 2f16 8F3F cpi r24,lo8(-1)4882 2f18 9F07 cpc r25,r314883 2f1a 01F0 breq .L6664884 2f1c 0196 adiw r24,14885 2f1e 9093 0000 sts (modell_fliegt)+1,r254886 2f22 8093 0000 sts modell_fliegt,r244887 .L663:4888 2f26 8091 0000 lds r24,modell_fliegt4889 2f2a 9091 0000 lds r25,(modell_fliegt)+14890 2f2e 8F3F cpi r24,2554891 2f30 9105 cpc r25,__zero_reg__4892 2f32 01F0 breq .+24893 2f34 00F4 brsh .+44894 2f36 0C94 0000 jmp .L10704895 .L666:4896 2f3a 8091 0000 lds r24,MikroKopterFlags4897 2f3e 8260 ori r24,lo8(2)4898 2f40 8093 0000 sts MikroKopterFlags,r244899 .L669:4900 2f44 8091 0000 lds r24,EE_Parameter+24901 2f48 A82F mov r26,r244902 2f4a B0E0 ldi r27,lo8(0)4903 2f4c AA0F lsl r264904 2f4e BB1F rol r274905 2f50 FD01 movw r30,r264906 2f52 E050 subi r30,lo8(-(PPM_in))4907 2f54 F040 sbci r31,hi8(-(PPM_in))4908 2f56 8081 ld r24,Z4909 2f58 9181 ldd r25,Z+14910 2f5a 8135 cpi r24,814911 2f5c 9105 cpc r25,__zero_reg__4912 2f5e 04F4 brge .+24913 2f60 00C0 rjmp .L6714914 2f62 8091 0000 lds r24,MotorenEin4915 2f66 8823 tst r244916 2f68 01F0 breq .+24917 2f6a 00C0 rjmp .L6714918 2f6c 8091 0000 lds r24,EE_Parameter+34919 2f70 E82F mov r30,r244920 2f72 F0E0 ldi r31,lo8(0)4921 2f74 EE0F lsl r304922 2f76 FF1F rol r314923 2f78 E050 subi r30,lo8(-(PPM_in))4924 2f7a F040 sbci r31,hi8(-(PPM_in))4925 2f7c 8081 ld r24,Z4926 2f7e 9181 ldd r25,Z+14927 2f80 8C34 cpi r24,764928 2f82 9105 cpc r25,__zero_reg__4929 2f84 04F4 brge .+44930 2f86 0C94 0000 jmp .L6744931 2f8a 8091 0000 lds r24,delay_neutral.30754932 2f8e 8F5F subi r24,lo8(-(1))4933 2f90 8093 0000 sts delay_neutral.3075,r244934 2f94 893C cpi r24,lo8(-55)4935 2f96 00F4 brsh .+24936 2f98 00C0 rjmp .L6714937 2f9a 4C30 cpi r20,lo8(12)4938 2f9c 00F0 brlo .+44939 2f9e 0C94 0000 jmp .L6774940 2fa2 2998 cbi 37-0x20,14941 .L679:4942 2fa4 1092 0000 sts MotorenEin,__zero_reg__4943 2fa8 1092 0000 sts delay_neutral.3075,__zero_reg__4944 2fac 1092 0000 sts (modell_fliegt)+1,__zero_reg__4945 2fb0 1092 0000 sts modell_fliegt,__zero_reg__4946 2fb4 8091 0000 lds r24,EE_Parameter4947 2fb8 282F mov r18,r244948 2fba 30E0 ldi r19,lo8(0)4949 2fbc 220F lsl r184950 2fbe 331F rol r194951 2fc0 F901 movw r30,r184952 2fc2 E050 subi r30,lo8(-(PPM_in))4953 2fc4 F040 sbci r31,hi8(-(PPM_in))4954 2fc6 8081 ld r24,Z4955 2fc8 9181 ldd r25,Z+14956 2fca 8734 cpi r24,714957 2fcc 9105 cpc r25,__zero_reg__4958 2fce 04F4 brge .+44959 2fd0 0C94 0000 jmp .L6804960 2fd4 8091 0000 lds r24,EE_Parameter+14961 2fd8 A82F mov r26,r244962 2fda B0E0 ldi r27,lo8(0)4963 2fdc AA0F lsl r264964 2fde BB1F rol r274965 .L682:4966 2fe0 AD01 movw r20,r264967 2fe2 4050 subi r20,lo8(-(PPM_in))4968 2fe4 5040 sbci r21,hi8(-(PPM_in))4969 2fe6 FA01 movw r30,r204970 2fe8 8081 ld r24,Z4971 2fea 9181 ldd r25,Z+14972 2fec 8734 cpi r24,714973 2fee 9105 cpc r25,__zero_reg__4974 2ff0 04F0 brlt .L6854975 2ff2 F901 movw r30,r184976 2ff4 E050 subi r30,lo8(-(PPM_in))4977 2ff6 F040 sbci r31,hi8(-(PPM_in))4978 2ff8 8081 ld r24,Z4979 2ffa 9181 ldd r25,Z+14980 .L685:4981 2ffc FA01 movw r30,r204982 2ffe 8081 ld r24,Z4983 3000 9181 ldd r25,Z+14984 3002 8734 cpi r24,714985 3004 9105 cpc r25,__zero_reg__4986 3006 04F4 brge .+44987 3008 0C94 0000 jmp .L6874988 300c F901 movw r30,r184989 300e E050 subi r30,lo8(-(PPM_in))4990 3010 F040 sbci r31,hi8(-(PPM_in))4991 3012 8081 ld r24,Z4992 3014 9181 ldd r25,Z+14993 3016 8734 cpi r24,714994 3018 9105 cpc r25,__zero_reg__4995 301a 04F4 brge .+44996 301c 0C94 0000 jmp .L6874997 3020 42E0 ldi r20,lo8(2)4998 .L690:4999 3022 FD01 movw r30,r265000 3024 E050 subi r30,lo8(-(PPM_in))5001 3026 F040 sbci r31,hi8(-(PPM_in))5002 3028 8081 ld r24,Z5003 302a 9181 ldd r25,Z+15004 302c 8634 cpi r24,705005 302e 9105 cpc r25,__zero_reg__5006 3030 04F4 brge .L6915007 3032 F901 movw r30,r185008 3034 E050 subi r30,lo8(-(PPM_in))5009 3036 F040 sbci r31,hi8(-(PPM_in))5010 3038 8081 ld r24,Z5011 303a 9181 ldd r25,Z+15012 303c 8734 cpi r24,715013 303e 9105 cpc r25,__zero_reg__5014 3040 04F0 brlt .L6915015 3042 43E0 ldi r20,lo8(3)5016 .L691:5017 3044 FD01 movw r30,r265018 3046 E050 subi r30,lo8(-(PPM_in))5019 3048 F040 sbci r31,hi8(-(PPM_in))5020 304a 8081 ld r24,Z5021 304c 9181 ldd r25,Z+15022 304e 8A5B subi r24,lo8(-70)5023 3050 9F4F sbci r25,hi8(-70)5024 3052 04F4 brge .L6945025 3054 F901 movw r30,r185026 3056 E050 subi r30,lo8(-(PPM_in))5027 3058 F040 sbci r31,hi8(-(PPM_in))5028 305a 8081 ld r24,Z5029 305c 9181 ldd r25,Z+15030 305e 8734 cpi r24,715031 3060 9105 cpc r25,__zero_reg__5032 3062 04F0 brlt .L6945033 3064 44E0 ldi r20,lo8(4)5034 .L694:5035 3066 A050 subi r26,lo8(-(PPM_in))5036 3068 B040 sbci r27,hi8(-(PPM_in))5037 306a 8D91 ld r24,X+5038 306c 9C91 ld r25,X5039 306e 8A5B subi r24,lo8(-70)5040 3070 9F4F sbci r25,hi8(-70)5041 3072 04F4 brge .L6975042 3074 2050 subi r18,lo8(-(PPM_in))5043 3076 3040 sbci r19,hi8(-(PPM_in))5044 3078 D901 movw r26,r185045 307a 8D91 ld r24,X+5046 307c 9C91 ld r25,X5047 307e 8634 cpi r24,705048 3080 9105 cpc r25,__zero_reg__5049 3082 04F4 brge .L6975050 3084 45E0 ldi r20,lo8(5)5051 .L697:5052 3086 842F mov r24,r205053 3088 0E94 0000 call SetActiveParamSetNumber5054 308c 8091 0000 lds r24,EE_Parameter+15055 3090 A82F mov r26,r245056 3092 B0E0 ldi r27,lo8(0)5057 3094 AA0F lsl r265058 3096 BB1F rol r275059 .L683:5060 3098 A050 subi r26,lo8(-(PPM_in))5061 309a B040 sbci r27,hi8(-(PPM_in))5062 309c 8D91 ld r24,X+5063 309e 9C91 ld r25,X5064 30a0 97FF sbrs r25,75065 30a2 00C0 rjmp .+45066 30a4 0C94 0000 jmp .L10715067 .L701:5068 30a8 4E97 sbiw r24,305069 30aa 04F0 brlt .+45070 30ac 0C94 0000 jmp .L7005071 30b0 E091 0000 lds r30,EE_Parameter5072 30b4 F0E0 ldi r31,lo8(0)5073 30b6 EE0F lsl r305074 30b8 FF1F rol r315075 30ba E050 subi r30,lo8(-(PPM_in))5076 30bc F040 sbci r31,hi8(-(PPM_in))5077 30be 8081 ld r24,Z5078 30c0 9181 ldd r25,Z+15079 30c2 8A5B subi r24,lo8(-70)5080 30c4 9F4F sbci r25,hi8(-70)5081 30c6 04F0 brlt .+45082 30c8 0C94 0000 jmp .L7005083 30cc 81E0 ldi r24,lo8(1)5084 30ce 8093 0000 sts WinkelOut+6,r245085 30d2 88EE ldi r24,lo8(1000)5086 30d4 93E0 ldi r25,hi8(1000)5087 30d6 9093 0000 sts (beeptime)+1,r255088 30da 8093 0000 sts beeptime,r245089 30de 8091 0000 lds r24,EE_Parameter+25090 30e2 A82F mov r26,r245091 30e4 B0E0 ldi r27,lo8(0)5092 30e6 AA0F lsl r265093 30e8 BB1F rol r275094 .L671:5095 30ea A050 subi r26,lo8(-(PPM_in))5096 30ec B040 sbci r27,hi8(-(PPM_in))5097 30ee 8D91 ld r24,X+5098 30f0 9C91 ld r25,X5099 30f2 8B5A subi r24,lo8(-85)5100 30f4 9F4F sbci r25,hi8(-85)5101 30f6 04F0 brlt .+25102 30f8 00C0 rjmp .L6615103 30fa 8091 0000 lds r24,EE_Parameter+35104 30fe C82E mov r12,r245105 3100 DD24 clr r135106 3102 CC0C lsl r125107 3104 DD1C rol r135108 3106 F601 movw r30,r125109 3108 E050 subi r30,lo8(-(PPM_in))5110 310a F040 sbci r31,hi8(-(PPM_in))5111 310c 8081 ld r24,Z5112 310e 9181 ldd r25,Z+15113 3110 855B subi r24,lo8(-75)5114 3112 9F4F sbci r25,hi8(-75)5115 3114 04F0 brlt .+45116 3116 0C94 0000 jmp .L7185117 311a 8091 0000 lds r24,delay_einschalten.30765118 311e 8F5F subi r24,lo8(-(1))5119 3120 8093 0000 sts delay_einschalten.3076,r245120 3124 893C cpi r24,lo8(-55)5121 3126 00F0 brlo .+45122 3128 0C94 0000 jmp .L10725123 .L720:5124 312c 60E0 ldi r22,lo8(PPM_in)5125 312e 70E0 ldi r23,hi8(PPM_in)5126 3130 C60E add r12,r225127 3132 D71E adc r13,r235128 3134 D601 movw r26,r125129 3136 8D91 ld r24,X+5130 3138 9C91 ld r25,X5131 313a 8C34 cpi r24,765132 313c 9105 cpc r25,__zero_reg__5133 313e 04F4 brge .+45134 3140 0C94 0000 jmp .L7225135 3144 8091 0000 lds r24,delay_ausschalten.30775136 3148 8F5F subi r24,lo8(-(1))5137 314a 8093 0000 sts delay_ausschalten.3077,r245138 314e 893C cpi r24,lo8(-55)5139 3150 00F4 brsh .+25140 3152 00C0 rjmp .L6615141 3154 1092 0000 sts MotorenEin,__zero_reg__5142 3158 88EC ldi r24,lo8(-56)5143 315a 8093 0000 sts delay_ausschalten.3077,r245144 315e 1092 0000 sts (modell_fliegt)+1,__zero_reg__5145 3162 1092 0000 sts modell_fliegt,__zero_reg__5146 3166 00C0 rjmp .L6615147 .L725:5148 3168 0E94 0000 call ParameterZuordnung5149 316c 8091 0000 lds r24,EE_Parameter5150 3170 A82E mov r10,r245151 3172 BB24 clr r115152 3174 AA0C lsl r105153 3176 BB1C rol r115154 3178 F501 movw r30,r105155 317a E050 subi r30,lo8(-(PPM_in))5156 317c F040 sbci r31,hi8(-(PPM_in))5157 317e 2081 ld r18,Z5158 3180 3181 ldd r19,Z+15159 3182 8091 0000 lds r24,EE_Parameter+155160 3186 882E mov r8,r245161 3188 9924 clr r95162 318a F501 movw r30,r105163 318c E050 subi r30,lo8(-(PPM_diff))5164 318e F040 sbci r31,hi8(-(PPM_diff))5165 3190 0190 ld __tmp_reg__,Z+5166 3192 F081 ld r31,Z5167 3194 E02D mov r30,__tmp_reg__5168 3196 8091 0000 lds r24,EE_Parameter+165169 319a 682F mov r22,r245170 319c 70E0 ldi r23,lo8(0)5171 319e 289D mul r18,r85172 31a0 A001 movw r20,r05173 31a2 299D mul r18,r95174 31a4 500D add r21,r05175 31a6 389D mul r19,r85176 31a8 500D add r21,r05177 31aa 1124 clr r15178 31ac 2091 0000 lds r18,stick_nick.30955179 31b0 3091 0000 lds r19,(stick_nick.3095)+15180 31b4 C901 movw r24,r185181 31b6 880F lsl r245182 31b8 991F rol r255183 31ba 820F add r24,r185184 31bc 931F adc r25,r195185 31be 480F add r20,r245186 31c0 591F adc r21,r255187 31c2 57FF sbrs r21,75188 31c4 00C0 rjmp .+45189 31c6 0C94 0000 jmp .L10735190 .L728:5191 31ca 9A01 movw r18,r205192 31cc 3595 asr r195193 31ce 2795 ror r185194 31d0 3595 asr r195195 31d2 2795 ror r185196 31d4 E69F mul r30,r225197 31d6 C001 movw r24,r05198 31d8 E79F mul r30,r235199 31da 900D add r25,r05200 31dc F69F mul r31,r225201 31de 900D add r25,r05202 31e0 1124 clr r15203 31e2 280F add r18,r245204 31e4 391F adc r19,r255205 31e6 3093 0000 sts (stick_nick.3095)+1,r195206 31ea 2093 0000 sts stick_nick.3095,r185207 31ee 8091 0000 lds r24,GPS_Nick25208 31f2 9091 0000 lds r25,(GPS_Nick2)+15209 31f6 4091 0000 lds r20,GPS_Nick5210 31fa 5091 0000 lds r21,(GPS_Nick)+15211 31fe 6901 movw r12,r185212 3200 C81A sub r12,r245213 3202 D90A sbc r13,r255214 3204 C41A sub r12,r205215 3206 D50A sbc r13,r215216 3208 D092 0000 sts (StickNick)+1,r135217 320c C092 0000 sts StickNick,r125218 3210 8091 0000 lds r24,EE_Parameter+15219 3214 E82E mov r14,r245220 3216 FF24 clr r155221 3218 EE0C lsl r145222 321a FF1C rol r155223 321c F701 movw r30,r145224 321e E050 subi r30,lo8(-(PPM_in))5225 3220 F040 sbci r31,hi8(-(PPM_in))5226 3222 8081 ld r24,Z5227 3224 9181 ldd r25,Z+15228 3226 F701 movw r30,r145229 3228 E050 subi r30,lo8(-(PPM_diff))5230 322a F040 sbci r31,hi8(-(PPM_diff))5231 322c 0190 ld __tmp_reg__,Z+5232 322e F081 ld r31,Z5233 3230 E02D mov r30,__tmp_reg__5234 3232 889D mul r24,r85235 3234 A001 movw r20,r05236 3236 899D mul r24,r95237 3238 500D add r21,r05238 323a 989D mul r25,r85239 323c 500D add r21,r05240 323e 1124 clr r15241 3240 2091 0000 lds r18,stick_roll.30965242 3244 3091 0000 lds r19,(stick_roll.3096)+15243 3248 C901 movw r24,r185244 324a 880F lsl r245245 324c 991F rol r255246 324e 820F add r24,r185247 3250 931F adc r25,r195248 3252 480F add r20,r245249 3254 591F adc r21,r255250 3256 57FF sbrs r21,75251 3258 00C0 rjmp .+45252 325a 0C94 0000 jmp .L10745253 .L729:5254 325e 9A01 movw r18,r205255 3260 3595 asr r195256 3262 2795 ror r185257 3264 3595 asr r195258 3266 2795 ror r185259 3268 E69F mul r30,r225260 326a C001 movw r24,r05261 326c E79F mul r30,r235262 326e 900D add r25,r05263 3270 F69F mul r31,r225264 3272 900D add r25,r05265 3274 1124 clr r15266 3276 280F add r18,r245267 3278 391F adc r19,r255268 327a 3093 0000 sts (stick_roll.3096)+1,r195269 327e 2093 0000 sts stick_roll.3096,r185270 3282 8091 0000 lds r24,GPS_Roll25271 3286 9091 0000 lds r25,(GPS_Roll2)+15272 328a 4091 0000 lds r20,GPS_Roll5273 328e 5091 0000 lds r21,(GPS_Roll)+15274 3292 8901 movw r16,r185275 3294 081B sub r16,r245276 3296 190B sbc r17,r255277 3298 041B sub r16,r205278 329a 150B sbc r17,r215279 329c 1093 0000 sts (StickRoll)+1,r175280 32a0 0093 0000 sts StickRoll,r165281 32a4 E091 0000 lds r30,EE_Parameter+35282 32a8 F0E0 ldi r31,lo8(0)5283 32aa EE0F lsl r305284 32ac FF1F rol r315285 32ae E050 subi r30,lo8(-(PPM_in))5286 32b0 F040 sbci r31,hi8(-(PPM_in))5287 32b2 8081 ld r24,Z5288 32b4 9181 ldd r25,Z+15289 32b6 9095 com r255290 32b8 8195 neg r245291 32ba 9F4F sbci r25,lo8(-1)5292 32bc 9093 0000 sts (StickGier)+1,r255293 32c0 8093 0000 sts StickGier,r245294 32c4 8330 cpi r24,35295 32c6 9105 cpc r25,__zero_reg__5296 32c8 04F4 brge .+25297 32ca 00C0 rjmp .L7305298 32cc 0297 sbiw r24,25299 32ce 9093 0000 sts (StickGier)+1,r255300 32d2 8093 0000 sts StickGier,r245301 .L732:5302 32d6 E091 0000 lds r30,EE_Parameter+25303 32da F0E0 ldi r31,lo8(0)5304 32dc EE0F lsl r305305 32de FF1F rol r315306 32e0 E050 subi r30,lo8(-(PPM_in))5307 32e2 F040 sbci r31,hi8(-(PPM_in))5308 32e4 6080 ld r6,Z5309 32e6 7180 ldd r7,Z+15310 32e8 28E7 ldi r18,lo8(120)5311 32ea 30E0 ldi r19,hi8(120)5312 32ec 620E add r6,r185313 32ee 731E adc r7,r195314 32f0 7092 0000 sts (StickGas)+1,r75315 32f4 6092 0000 sts StickGas,r65316 32f8 6091 0000 lds r22,Parameter_Gyro_P5317 32fc 70E0 ldi r23,lo8(0)5318 32fe 8827 clr r245319 3300 77FD sbrc r23,75320 3302 8095 com r245321 3304 982F mov r25,r245322 3306 0E94 0000 call __floatsisf5323 330a 20E0 ldi r18,lo8(0x41200000)5324 330c 30E0 ldi r19,hi8(0x41200000)5325 330e 40E2 ldi r20,hlo8(0x41200000)5326 3310 51E4 ldi r21,hhi8(0x41200000)5327 3312 0E94 0000 call __addsf35328 3316 0E94 0000 call __fixunssfsi5329 331a 6093 0000 sts GyroFaktor,r225330 331e 3091 0000 lds r19,Parameter_Gyro_I5331 3322 3093 0000 sts IntegralFaktor,r195332 3326 8091 0000 lds r24,ExternControl+105333 332a 80FF sbrs r24,05334 332c 00C0 rjmp .L7355335 332e 8091 0000 lds r24,Parameter_ExternalControl5336 3332 8138 cpi r24,lo8(-127)5337 3334 00F0 brlo .+45338 3336 0C94 0000 jmp .L10755339 .L735:5340 333a 8091 0000 lds r24,StickGas5341 333e 9091 0000 lds r25,(StickGas)+15342 3342 97FF sbrs r25,75343 3344 00C0 rjmp .+45344 3346 0C94 0000 jmp .L10765345 .L739:5346 334a B091 0000 lds r27,EE_Parameter+85347 334e B2FF sbrs r27,25348 3350 00C0 rjmp .L7415349 3352 1092 0000 sts IntegralFaktor,__zero_reg__5350 .L741:5351 3356 2091 0000 lds r18,StickNick5352 335a 3091 0000 lds r19,(StickNick)+15353 335e 4091 0000 lds r20,MaxStickNick5354 3362 5091 0000 lds r21,(MaxStickNick)+15355 3366 C901 movw r24,r185356 3368 37FF sbrs r19,75357 336a 00C0 rjmp .+45358 336c 0C94 0000 jmp .L10775359 .L744:5360 3370 9595 asr r255361 3372 8795 ror r245362 3374 9595 asr r255363 3376 8795 ror r245364 3378 97FF sbrs r25,75365 337a 00C0 rjmp .+45366 337c 0C94 0000 jmp .L10785367 .L745:5368 3380 4817 cp r20,r245369 3382 5907 cpc r21,r255370 3384 04F0 brlt .+25371 3386 00C0 rjmp .L7435372 3388 C901 movw r24,r185373 338a 37FF sbrs r19,75374 338c 00C0 rjmp .+45375 338e 0C94 0000 jmp .L10795376 .L747:5377 3392 97FF sbrs r25,75378 3394 00C0 rjmp .+45379 3396 0C94 0000 jmp .L10805380 .L748:5381 339a 9595 asr r255382 339c 8795 ror r245383 339e 9595 asr r255384 33a0 8795 ror r245385 33a2 9093 0000 sts (MaxStickNick)+1,r255386 33a6 8093 0000 sts MaxStickNick,r245387 33aa 8536 cpi r24,1015388 33ac 9105 cpc r25,__zero_reg__5389 33ae 04F0 brlt .+45390 33b0 0C94 0000 jmp .L10815391 .L749:5392 33b4 2091 0000 lds r18,StickRoll5393 33b8 3091 0000 lds r19,(StickRoll)+15394 33bc 4091 0000 lds r20,MaxStickRoll5395 33c0 5091 0000 lds r21,(MaxStickRoll)+15396 33c4 C901 movw r24,r185397 33c6 37FF sbrs r19,75398 33c8 00C0 rjmp .+45399 33ca 0C94 0000 jmp .L10825400 33ce 9595 asr r255401 33d0 8795 ror r245402 33d2 9595 asr r255403 33d4 8795 ror r245404 33d6 97FF sbrs r25,75405 33d8 00C0 rjmp .+45406 33da 0C94 0000 jmp .L10835407 .L753:5408 33de 4817 cp r20,r245409 33e0 5907 cpc r21,r255410 33e2 04F0 brlt .+25411 33e4 00C0 rjmp .L7515412 33e6 C901 movw r24,r185413 33e8 37FF sbrs r19,75414 33ea 00C0 rjmp .+45415 33ec 0C94 0000 jmp .L10845416 .L755:5417 33f0 97FF sbrs r25,75418 33f2 00C0 rjmp .+45419 33f4 0C94 0000 jmp .L10855420 .L756:5421 33f8 9595 asr r255422 33fa 8795 ror r245423 33fc 9595 asr r255424 33fe 8795 ror r245425 3400 9093 0000 sts (MaxStickRoll)+1,r255426 3404 8093 0000 sts MaxStickRoll,r245427 3408 8536 cpi r24,1015428 340a 9105 cpc r25,__zero_reg__5429 340c 04F0 brlt .+25430 340e 00C0 rjmp .L10865431 .L757:5432 3410 E091 0000 lds r30,Notlandung5433 3414 EFA3 std Y+39,r305434 3416 EE23 tst r305435 3418 01F0 breq .L7595436 341a 1092 0000 sts (MaxStickNick)+1,__zero_reg__5437 341e 1092 0000 sts MaxStickNick,__zero_reg__5438 3422 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5439 3426 1092 0000 sts MaxStickRoll,__zero_reg__5440 .L759:5441 342a F701 movw r30,r145442 342c E050 subi r30,lo8(-(PPM_in))5443 342e F040 sbci r31,hi8(-(PPM_in))5444 3430 2081 ld r18,Z5445 3432 3181 ldd r19,Z+15446 3434 8091 0000 lds r24,EE_Parameter+405447 3438 482F mov r20,r245448 343a 50E0 ldi r21,lo8(0)5449 343c 4217 cp r20,r185450 343e 5307 cpc r21,r195451 3440 04F4 brge .L7615452 3442 8091 0000 lds r24,EE_Parameter+755453 3446 82FD sbrc r24,25454 3448 00C0 rjmp .L10875455 .L761:5456 344a F701 movw r30,r145457 344c E050 subi r30,lo8(-(PPM_in))5458 344e F040 sbci r31,hi8(-(PPM_in))5459 3450 2081 ld r18,Z5460 3452 3181 ldd r19,Z+15461 3454 8091 0000 lds r24,EE_Parameter+415462 3458 BA01 movw r22,r205463 345a 681B sub r22,r245464 345c 7109 sbc r23,__zero_reg__5465 345e 2617 cp r18,r225466 3460 3707 cpc r19,r235467 3462 04F4 brge .L7645468 3464 1092 0000 sts Looping_Links,__zero_reg__5469 .L764:5470 3468 F701 movw r30,r145471 346a E050 subi r30,lo8(-(PPM_in))5472 346c F040 sbci r31,hi8(-(PPM_in))5473 346e 8081 ld r24,Z5474 3470 9181 ldd r25,Z+15475 3472 6627 clr r225476 3474 7727 clr r235477 3476 641B sub r22,r205478 3478 750B sbc r23,r215479 347a 8617 cp r24,r225480 347c 9707 cpc r25,r235481 347e 04F4 brge .L7665482 3480 8091 0000 lds r24,EE_Parameter+755483 3484 83FD sbrc r24,35484 3486 00C0 rjmp .L10885485 .L766:5486 3488 8091 0000 lds r24,Looping_Rechts5487 348c 8823 tst r245488 348e 01F0 breq .L7695489 3490 80E0 ldi r24,lo8(PPM_in)5490 3492 90E0 ldi r25,hi8(PPM_in)5491 3494 E80E add r14,r245492 3496 F91E adc r15,r255493 3498 F701 movw r30,r145494 349a 2081 ld r18,Z5495 349c 3181 ldd r19,Z+15496 349e 8091 0000 lds r24,EE_Parameter+415497 34a2 90E0 ldi r25,lo8(0)5498 34a4 841B sub r24,r205499 34a6 950B sbc r25,r215500 34a8 8217 cp r24,r185501 34aa 9307 cpc r25,r195502 34ac 04F4 brge .+45503 34ae 0C94 0000 jmp .L10895504 .L769:5505 34b2 F501 movw r30,r105506 34b4 E050 subi r30,lo8(-(PPM_in))5507 34b6 F040 sbci r31,hi8(-(PPM_in))5508 34b8 8081 ld r24,Z5509 34ba 9181 ldd r25,Z+15510 34bc 4817 cp r20,r245511 34be 5907 cpc r21,r255512 34c0 04F4 brge .L7725513 34c2 8091 0000 lds r24,EE_Parameter+755514 34c6 80FD sbrc r24,05515 34c8 00C0 rjmp .L10905516 .L772:5517 34ca A091 0000 lds r26,Looping_Oben5518 34ce AA23 tst r265519 34d0 01F0 breq .L7755520 34d2 F501 movw r30,r105521 34d4 E050 subi r30,lo8(-(PPM_in))5522 34d6 F040 sbci r31,hi8(-(PPM_in))5523 34d8 2081 ld r18,Z5524 34da 3181 ldd r19,Z+15525 34dc 8091 0000 lds r24,EE_Parameter+415526 34e0 FA01 movw r30,r205527 34e2 E81B sub r30,r245528 34e4 F109 sbc r31,__zero_reg__5529 34e6 2E17 cp r18,r305530 34e8 3F07 cpc r19,r315531 34ea 04F4 brge .+45532 34ec 0C94 0000 jmp .L10915533 .L775:5534 34f0 F501 movw r30,r105535 34f2 E050 subi r30,lo8(-(PPM_in))5536 34f4 F040 sbci r31,hi8(-(PPM_in))5537 34f6 8081 ld r24,Z5538 34f8 9181 ldd r25,Z+15539 34fa 8617 cp r24,r225540 34fc 9707 cpc r25,r235541 34fe 04F4 brge .L7785542 3500 8091 0000 lds r24,EE_Parameter+755543 3504 81FD sbrc r24,15544 3506 00C0 rjmp .L10925545 .L778:5546 3508 8091 0000 lds r24,Looping_Unten5547 350c 8823 tst r245548 350e 01F0 breq .L7815549 3510 20E0 ldi r18,lo8(PPM_in)5550 3512 30E0 ldi r19,hi8(PPM_in)5551 3514 A20E add r10,r185552 3516 B31E adc r11,r195553 3518 F501 movw r30,r105554 351a 2081 ld r18,Z5555 351c 3181 ldd r19,Z+15556 351e 8091 0000 lds r24,EE_Parameter+415557 3522 90E0 ldi r25,lo8(0)5558 3524 841B sub r24,r205559 3526 950B sbc r25,r215560 3528 8217 cp r24,r185561 352a 9307 cpc r25,r195562 352c 04F4 brge .+45563 352e 0C94 0000 jmp .L10935564 .L781:5565 3532 8091 0000 lds r24,Looping_Links5566 3536 8823 tst r245567 3538 01F4 brne .L7845568 353a 8091 0000 lds r24,Looping_Rechts5569 353e 8823 tst r245570 3540 01F4 brne .+25571 3542 00C0 rjmp .L7865572 .L784:5573 3544 F1E0 ldi r31,lo8(1)5574 3546 F093 0000 sts Looping_Roll,r315575 .L787:5576 354a AA23 tst r265577 354c 01F4 brne .L7885578 354e 8091 0000 lds r24,Looping_Unten5579 3552 8823 tst r245580 3554 01F4 brne .+25581 3556 00C0 rjmp .L7905582 .L788:5583 3558 81E0 ldi r24,lo8(1)5584 355a 8093 0000 sts Looping_Nick,r245585 355e 1092 0000 sts Looping_Roll,__zero_reg__5586 3562 1092 0000 sts Looping_Links,__zero_reg__5587 3566 1092 0000 sts Looping_Rechts,__zero_reg__5588 356a 00C0 rjmp .L7915589 .L643:5590 356c 2998 cbi 37-0x20,15591 356e 00C0 rjmp .L6455592 .L730:5593 3570 EFEF ldi r30,hi8(-2)5594 3572 8E3F cpi r24,lo8(-2)5595 3574 9E07 cpc r25,r305596 3576 04F0 brlt .+25597 3578 00C0 rjmp .L7335598 357a 0296 adiw r24,25599 357c 9093 0000 sts (StickGier)+1,r255600 3580 8093 0000 sts StickGier,r245601 3584 00C0 rjmp .L7325602 .L652:5603 3586 1092 0000 sts MotorenEin,__zero_reg__5604 358a 1092 0000 sts Notlandung,__zero_reg__5605 358e 4A30 cpi r20,lo8(10)5606 3590 01F0 breq .+25607 3592 00C0 rjmp .L10945608 .L655:5609 3594 289A sbi 37-0x20,05610 3596 00C0 rjmp .L6585611 .L1049:5612 3598 8090 0000 lds r8,MesswertGier5613 359c 9090 0000 lds r9,(MesswertGier)+15614 .L909:5615 35a0 8091 0000 lds r24,TimerWerteausgabe.30875616 35a4 8150 subi r24,lo8(-(-1))5617 35a6 8093 0000 sts TimerWerteausgabe.3087,r245618 35aa 8F3F cpi r24,lo8(-1)5619 35ac 01F4 brne .+25620 35ae 00C0 rjmp .L10955621 .L933:5622 35b0 BEA1 ldd r27,Y+385623 35b2 BB23 tst r275624 35b4 01F0 breq .L9375625 35b6 1092 0000 sts SummeRoll.3068,__zero_reg__5626 35ba 1092 0000 sts (SummeRoll.3068)+1,__zero_reg__5627 35be 1092 0000 sts (SummeRoll.3068)+2,__zero_reg__5628 35c2 1092 0000 sts (SummeRoll.3068)+3,__zero_reg__5629 35c6 1092 0000 sts SummeNick.3067,__zero_reg__5630 35ca 1092 0000 sts (SummeNick.3067)+1,__zero_reg__5631 35ce 1092 0000 sts (SummeNick.3067)+2,__zero_reg__5632 35d2 1092 0000 sts (SummeNick.3067)+3,__zero_reg__5633 .L937:5634 35d6 E985 ldd r30,Y+95635 35d8 EE23 tst r305636 35da 01F4 brne .+25637 35dc 00C0 rjmp .L9395638 35de 1F86 std Y+15,__zero_reg__5639 35e0 1E86 std Y+14,__zero_reg__5640 35e2 4424 clr r45641 35e4 5524 clr r55642 .L941:5643 35e6 2CA5 ldd r18,Y+445644 35e8 2223 tst r185645 35ea 01F4 brne .+25646 35ec 00C0 rjmp .L9425647 35ee 1D86 std Y+13,__zero_reg__5648 35f0 1C86 std Y+12,__zero_reg__5649 35f2 2224 clr r25650 35f4 3324 clr r35651 .L944:5652 35f6 8091 0000 lds r24,TrimNick5653 35fa 9091 0000 lds r25,(TrimNick)+15654 35fe 893C cpi r24,2015655 3600 9105 cpc r25,__zero_reg__5656 3602 04F4 brge .+25657 3604 00C0 rjmp .L9455658 3606 88EC ldi r24,lo8(200)5659 3608 90E0 ldi r25,hi8(200)5660 360a 9093 0000 sts (TrimNick)+1,r255661 360e 8093 0000 sts TrimNick,r245662 .L947:5663 3612 6091 0000 lds r22,TrimRoll5664 3616 7091 0000 lds r23,(TrimRoll)+15665 361a 7EA7 std Y+46,r235666 361c 6DA7 std Y+45,r225667 361e 693C cpi r22,2015668 3620 7105 cpc r23,__zero_reg__5669 3622 04F4 brge .+25670 3624 00C0 rjmp .L9495671 3626 A8EC ldi r26,lo8(200)5672 3628 B0E0 ldi r27,hi8(200)5673 362a BEA7 std Y+46,r275674 362c ADA7 std Y+45,r265675 362e B093 0000 sts (TrimRoll)+1,r275676 3632 A093 0000 sts TrimRoll,r265677 .L951:5678 3636 A090 0000 lds r10,GyroFaktor5679 363a BB24 clr r115680 363c CC24 clr r125681 363e DD24 clr r135682 3640 7C01 movw r14,r245683 3642 0027 clr r165684 3644 F7FC sbrc r15,75685 3646 0095 com r165686 3648 102F mov r17,r165687 364a EE0C lsl r145688 364c FF1C rol r155689 364e 001F rol r165690 3650 111F rol r175691 3652 EE0C lsl r145692 3654 FF1C rol r155693 3656 001F rol r165694 3658 111F rol r175695 365a EE0C lsl r145696 365c FF1C rol r155697 365e 001F rol r165698 3660 111F rol r175699 3662 EE0C lsl r145700 3664 FF1C rol r155701 3666 001F rol r165702 3668 111F rol r175703 366a EE0C lsl r145704 366c FF1C rol r155705 366e 001F rol r165706 3670 111F rol r175707 3672 EE0C lsl r145708 3674 FF1C rol r155709 3676 001F rol r165710 3678 111F rol r175711 367a EE0C lsl r145712 367c FF1C rol r155713 367e 001F rol r165714 3680 111F rol r175715 3682 6090 0000 lds r6,MesswertNick5716 3686 7090 0000 lds r7,(MesswertNick)+15717 368a 9301 movw r18,r65718 368c 4427 clr r205719 368e 37FD sbrc r19,75720 3690 4095 com r205721 3692 542F mov r21,r205722 3694 C601 movw r24,r125723 3696 B501 movw r22,r105724 3698 0E94 0000 call __mulsi35725 369c E60E add r14,r225726 369e F71E adc r15,r235727 36a0 081F adc r16,r245728 36a2 191F adc r17,r255729 36a4 C801 movw r24,r165730 36a6 B701 movw r22,r145731 36a8 20E4 ldi r18,lo8(64)5732 36aa 30E0 ldi r19,hi8(64)5733 36ac 40E0 ldi r20,hlo8(64)5734 36ae 50E0 ldi r21,hhi8(64)5735 36b0 0E94 0000 call __divmodsi45736 36b4 3201 movw r6,r45737 36b6 620E add r6,r185738 36b8 731E adc r7,r195739 36ba 7092 0000 sts (MesswertNick)+1,r75740 36be 6092 0000 sts MesswertNick,r65741 36c2 6DA5 ldd r22,Y+455742 36c4 7EA5 ldd r23,Y+465743 36c6 7B01 movw r14,r225744 36c8 0027 clr r165745 36ca F7FC sbrc r15,75746 36cc 0095 com r165747 36ce 102F mov r17,r165748 36d0 EE0C lsl r145749 36d2 FF1C rol r155750 36d4 001F rol r165751 36d6 111F rol r175752 36d8 EE0C lsl r145753 36da FF1C rol r155754 36dc 001F rol r165755 36de 111F rol r175756 36e0 EE0C lsl r145757 36e2 FF1C rol r155758 36e4 001F rol r165759 36e6 111F rol r175760 36e8 EE0C lsl r145761 36ea FF1C rol r155762 36ec 001F rol r165763 36ee 111F rol r175764 36f0 EE0C lsl r145765 36f2 FF1C rol r155766 36f4 001F rol r165767 36f6 111F rol r175768 36f8 EE0C lsl r145769 36fa FF1C rol r155770 36fc 001F rol r165771 36fe 111F rol r175772 3700 EE0C lsl r145773 3702 FF1C rol r155774 3704 001F rol r165775 3706 111F rol r175776 3708 4090 0000 lds r4,MesswertRoll5777 370c 5090 0000 lds r5,(MesswertRoll)+15778 3710 B201 movw r22,r45779 3712 8827 clr r245780 3714 77FD sbrc r23,75781 3716 8095 com r245782 3718 982F mov r25,r245783 371a A601 movw r20,r125784 371c 9501 movw r18,r105785 371e 0E94 0000 call __mulsi35786 3722 E60E add r14,r225787 3724 F71E adc r15,r235788 3726 081F adc r16,r245789 3728 191F adc r17,r255790 372a C801 movw r24,r165791 372c B701 movw r22,r145792 372e 20E4 ldi r18,lo8(64)5793 3730 30E0 ldi r19,hi8(64)5794 3732 40E0 ldi r20,hlo8(64)5795 3734 50E0 ldi r21,hhi8(64)5796 3736 0E94 0000 call __divmodsi45797 373a 2101 movw r4,r25798 373c 420E add r4,r185799 373e 531E adc r5,r195800 3740 5092 0000 sts (MesswertRoll)+1,r55801 3744 4092 0000 sts MesswertRoll,r45802 3748 880C lsl r85803 374a 991C rol r95804 374c B401 movw r22,r85805 374e 8827 clr r245806 3750 77FD sbrc r23,75807 3752 8095 com r245808 3754 982F mov r25,r245809 3756 A601 movw r20,r125810 3758 9501 movw r18,r105811 375a 0E94 0000 call __mulsi35812 375e 20E4 ldi r18,lo8(64)5813 3760 30E0 ldi r19,hi8(64)5814 3762 40E0 ldi r20,hlo8(64)5815 3764 50E0 ldi r21,hhi8(64)5816 3766 0E94 0000 call __divmodsi45817 376a 7901 movw r14,r185818 376c 8A01 movw r16,r205819 376e ADA1 ldd r26,Y+375820 3770 6A2F mov r22,r265821 3772 70E0 ldi r23,lo8(0)5822 3774 80E0 ldi r24,lo8(0)5823 3776 90E0 ldi r25,hi8(0)5824 3778 2091 0000 lds r18,Integral_Gier5825 377c 3091 0000 lds r19,(Integral_Gier)+15826 3780 4091 0000 lds r20,(Integral_Gier)+25827 3784 5091 0000 lds r21,(Integral_Gier)+35828 3788 0E94 0000 call __mulsi35829 378c 20EF ldi r18,lo8(22000)5830 378e 35E5 ldi r19,hi8(22000)5831 3790 40E0 ldi r20,hlo8(22000)5832 3792 50E0 ldi r21,hhi8(22000)5833 3794 0E94 0000 call __divmodsi45834 3798 4701 movw r8,r145835 379a 820E add r8,r185836 379c 931E adc r9,r195837 379e 9092 0000 sts (MesswertGier)+1,r95838 37a2 8092 0000 sts MesswertGier,r85839 37a6 B1E0 ldi r27,lo8(16385)5840 37a8 6B16 cp r6,r275841 37aa B0E4 ldi r27,hi8(16385)5842 37ac 7B06 cpc r7,r275843 37ae 04F4 brge .+25844 37b0 00C0 rjmp .L9535845 37b2 612C mov r6,__zero_reg__5846 37b4 40E4 ldi r20,hi8(16384)5847 37b6 742E mov r7,r205848 37b8 7092 0000 sts (MesswertNick)+1,r75849 37bc 6092 0000 sts MesswertNick,r65850 .L955:5851 37c0 F1E0 ldi r31,lo8(16385)5852 37c2 4F16 cp r4,r315853 37c4 F0E4 ldi r31,hi8(16385)5854 37c6 5F06 cpc r5,r315855 37c8 04F4 brge .+25856 37ca 00C0 rjmp .L9575857 37cc 412C mov r4,__zero_reg__5858 37ce 20E4 ldi r18,hi8(16384)5859 37d0 522E mov r5,r185860 37d2 5092 0000 sts (MesswertRoll)+1,r55861 37d6 4092 0000 sts MesswertRoll,r45862 .L959:5863 37da 31E0 ldi r19,lo8(16385)5864 37dc 8316 cp r8,r195865 37de 30E4 ldi r19,hi8(16385)5866 37e0 9306 cpc r9,r195867 37e2 04F4 brge .+25868 37e4 00C0 rjmp .L9615869 37e6 812C mov r8,__zero_reg__5870 37e8 80E4 ldi r24,hi8(16384)5871 37ea 982E mov r9,r245872 37ec 9092 0000 sts (MesswertGier)+1,r95873 37f0 8092 0000 sts MesswertGier,r85874 .L963:5875 37f4 6889 ldd r22,Y+165876 37f6 7989 ldd r23,Y+175877 37f8 660F lsl r225878 37fa 771F rol r235879 37fc 660F lsl r225880 37fe 771F rol r235881 3800 7EA7 std Y+46,r235882 3802 6DA7 std Y+45,r225883 3804 7A85 ldd r23,Y+105884 3806 70FF sbrs r23,05885 3808 00C0 rjmp .L9655886 380a 71FF sbrs r23,15887 380c 00C0 rjmp .L9675888 380e 8091 0000 lds r24,EE_Parameter+755889 3812 84FD sbrc r24,45890 3814 00C0 rjmp .+45891 3816 0C94 0000 jmp .L9695892 381a 8091 0000 lds r24,Parameter_MaxHoehe5893 381e 8155 subi r24,lo8(-(-81))5894 3820 8B33 cpi r24,lo8(59)5895 3822 00F0 brlo .+45896 3824 0C94 0000 jmp .L9725897 .L971:5898 3828 8091 0000 lds r24,delay.31125899 382c 8150 subi r24,lo8(-(-1))5900 382e 8093 0000 sts delay.3112,r245901 3832 8F3F cpi r24,lo8(-1)5902 3834 01F4 brne .+45903 3836 0C94 0000 jmp .L10965904 383a 2091 0000 lds r18,HoehenWert5905 383e 3091 0000 lds r19,(HoehenWert)+15906 3842 00C0 rjmp .L9735907 .L988:5908 3844 EDA5 ldd r30,Y+455909 3846 FEA5 ldd r31,Y+465910 3848 E217 cp r30,r185911 384a F307 cpc r31,r195912 384c 04F4 brge .L9925913 384e F093 0000 sts (hoehenregler.3078)+1,r315914 3852 E093 0000 sts hoehenregler.3078,r305915 .L992:5916 3856 2091 0000 lds r18,hoehenregler.30785917 385a 3091 0000 lds r19,(hoehenregler.3078)+15918 385e 3EA7 std Y+46,r195919 3860 2DA7 std Y+45,r185920 .L965:5921 3862 8091 0000 lds r24,MAX_GAS5922 3866 282E mov r2,r245923 3868 3324 clr r35924 386a A101 movw r20,r25925 386c 440F lsl r205926 386e 551F rol r215927 3870 440F lsl r205928 3872 551F rol r215929 3874 CA01 movw r24,r205930 3876 8055 subi r24,lo8(-(-80))5931 3878 9040 sbci r25,hi8(-(-80))5932 387a 0DA5 ldd r16,Y+455933 387c 1EA5 ldd r17,Y+465934 387e 8017 cp r24,r165935 3880 9107 cpc r25,r175936 3882 04F4 brge .L9945937 3884 8C01 movw r16,r245938 .L994:5939 3886 1093 0000 sts (DebugOut+16)+1,r175940 388a 0093 0000 sts DebugOut+16,r165941 388e 688D ldd r22,Y+245942 3890 798D ldd r23,Y+255943 3892 8A8D ldd r24,Y+265944 3894 9B8D ldd r25,Y+275945 3896 660F lsl r225946 3898 771F rol r235947 389a 881F rol r245948 389c 991F rol r255949 389e 660F lsl r225950 38a0 771F rol r235951 38a2 881F rol r245952 38a4 991F rol r255953 38a6 7401 movw r14,r85954 38a8 E61A sub r14,r225955 38aa F70A sbc r15,r235956 38ac 013A cpi r16,1615957 38ae 1105 cpc r17,__zero_reg__5958 38b0 04F4 brge .+25959 38b2 00C0 rjmp .L9955960 38b4 9801 movw r18,r165961 38b6 3595 asr r195962 38b8 2795 ror r185963 38ba 2E15 cp r18,r145964 38bc 3F05 cpc r19,r155965 38be 04F0 brlt .L9975966 38c0 F801 movw r30,r165967 38c2 17FF sbrs r17,75968 38c4 00C0 rjmp .+45969 38c6 0C94 0000 jmp .L10975970 .L999:5971 38ca F595 asr r315972 38cc E795 ror r305973 38ce 2227 clr r185974 38d0 3327 clr r195975 38d2 2E1B sub r18,r305976 38d4 3F0B sbc r19,r315977 38d6 2E15 cp r18,r145978 38d8 3F05 cpc r19,r155979 38da 04F4 brge .+45980 38dc 0C94 0000 jmp .L10985981 .L997:5982 38e0 CA01 movw r24,r205983 38e2 801B sub r24,r165984 38e4 910B sbc r25,r175985 38e6 8217 cp r24,r185986 38e8 9307 cpc r25,r195987 38ea 04F4 brge .L10035988 38ec 9C01 movw r18,r245989 .L1003:5990 38ee C801 movw r24,r165991 38f0 841B sub r24,r205992 38f2 950B sbc r25,r215993 38f4 5901 movw r10,r185994 38f6 2817 cp r18,r245995 38f8 3907 cpc r19,r255996 38fa 04F4 brge .L10045997 38fc 5C01 movw r10,r245998 .L1004:5999 38fe 8091 0000 lds r24,StickNick6000 3902 9091 0000 lds r25,(StickNick)+16001 3906 6301 movw r12,r66002 3908 C81A sub r12,r246003 390a D90A sbc r13,r256004 390c D092 0000 sts (DiffNick)+1,r136005 3910 C092 0000 sts DiffNick,r126006 3914 ADA1 ldd r26,Y+376007 3916 AA23 tst r266008 3918 01F4 brne .+26009 391a 00C0 rjmp .L10056010 391c EE85 ldd r30,Y+146011 391e FF85 ldd r31,Y+156012 3920 E81B sub r30,r246013 3922 F90B sbc r31,r256014 3924 CF01 movw r24,r306015 3926 AA27 clr r266016 3928 97FD sbrc r25,76017 392a A095 com r266018 392c BA2F mov r27,r266019 392e 2091 0000 lds r18,SummeNick.30676020 3932 3091 0000 lds r19,(SummeNick.3067)+16021 3936 4091 0000 lds r20,(SummeNick.3067)+26022 393a 5091 0000 lds r21,(SummeNick.3067)+36023 393e 280F add r18,r246024 3940 391F adc r19,r256025 3942 4A1F adc r20,r266026 3944 5B1F adc r21,r276027 3946 2093 0000 sts SummeNick.3067,r186028 394a 3093 0000 sts (SummeNick.3067)+1,r196029 394e 4093 0000 sts (SummeNick.3067)+2,r206030 3952 5093 0000 sts (SummeNick.3067)+3,r216031 .L1007:6032 3956 2130 cpi r18,lo8(64001)6033 3958 FAEF ldi r31,hi8(64001)6034 395a 3F07 cpc r19,r316035 395c F0E0 ldi r31,hlo8(64001)6036 395e 4F07 cpc r20,r316037 3960 F0E0 ldi r31,hhi8(64001)6038 3962 5F07 cpc r21,r316039 3964 04F4 brge .+26040 3966 00C0 rjmp .L10086041 3968 20E0 ldi r18,lo8(64000)6042 396a 3AEF ldi r19,hi8(64000)6043 396c 40E0 ldi r20,hlo8(64000)6044 396e 50E0 ldi r21,hhi8(64000)6045 3970 2093 0000 sts SummeNick.3067,r186046 3974 3093 0000 sts (SummeNick.3067)+1,r196047 3978 4093 0000 sts (SummeNick.3067)+2,r206048 397c 5093 0000 sts (SummeNick.3067)+3,r216049 .L1010:6050 3980 8091 0000 lds r24,Ki6051 3984 9091 0000 lds r25,(Ki)+16052 3988 3C01 movw r6,r246053 398a 8824 clr r86054 398c 77FC sbrc r7,76055 398e 8094 com r86056 3990 982C mov r9,r86057 3992 CA01 movw r24,r206058 3994 B901 movw r22,r186059 3996 A401 movw r20,r86060 3998 9301 movw r18,r66061 399a 0E94 0000 call __divmodsi46062 399e C20E add r12,r186063 39a0 D31E adc r13,r196064 39a2 B501 movw r22,r106065 39a4 B7FC sbrc r11,76066 39a6 00C0 rjmp .L10996067 .L1012:6068 39a8 77FD sbrc r23,76069 39aa 00C0 rjmp .L11006070 .L1013:6071 39ac 7595 asr r236072 39ae 6795 ror r226073 39b0 600F add r22,r166074 39b2 711F adc r23,r176075 39b4 8827 clr r246076 39b6 77FD sbrc r23,76077 39b8 8095 com r246078 39ba 982F mov r25,r246079 39bc 2091 0000 lds r18,Parameter_DynamicStability6080 39c0 30E0 ldi r19,lo8(0)6081 39c2 40E0 ldi r20,lo8(0)6082 39c4 50E0 ldi r21,hi8(0)6083 39c6 0E94 0000 call __mulsi36084 39ca 20E4 ldi r18,lo8(64)6085 39cc 30E0 ldi r19,hi8(64)6086 39ce 40E0 ldi r20,hlo8(64)6087 39d0 50E0 ldi r21,hhi8(64)6088 39d2 0E94 0000 call __divmodsi46089 39d6 7901 movw r14,r186090 39d8 C216 cp r12,r186091 39da D306 cpc r13,r196092 39dc 04F4 brge .L10146093 39de 9601 movw r18,r126094 .L1014:6095 39e0 CC24 clr r126096 39e2 DD24 clr r136097 39e4 CE18 sub r12,r146098 39e6 DF08 sbc r13,r156099 39e8 DB8A std Y+19,r136100 39ea CA8A std Y+18,r126101 39ec C216 cp r12,r186102 39ee D306 cpc r13,r196103 39f0 04F4 brge .L10156104 39f2 6901 movw r12,r186105 .L1015:6106 39f4 8091 0000 lds r24,StickRoll6107 39f8 9091 0000 lds r25,(StickRoll)+16108 39fc 481A sub r4,r246109 39fe 590A sbc r5,r256110 3a00 5092 0000 sts (DiffRoll)+1,r56111 3a04 4092 0000 sts DiffRoll,r46112 3a08 7DA1 ldd r23,Y+376113 3a0a 7723 tst r236114 3a0c 01F4 brne .+26115 3a0e 00C0 rjmp .L10166116 3a10 AC85 ldd r26,Y+126117 3a12 BD85 ldd r27,Y+136118 3a14 A81B sub r26,r246119 3a16 B90B sbc r27,r256120 3a18 FD01 movw r30,r266121 3a1a CF01 movw r24,r306122 3a1c AA27 clr r266123 3a1e 97FD sbrc r25,76124 3a20 A095 com r266125 3a22 BA2F mov r27,r266126 3a24 2091 0000 lds r18,SummeRoll.30686127 3a28 3091 0000 lds r19,(SummeRoll.3068)+16128 3a2c 4091 0000 lds r20,(SummeRoll.3068)+26129 3a30 5091 0000 lds r21,(SummeRoll.3068)+36130 3a34 280F add r18,r246131 3a36 391F adc r19,r256132 3a38 4A1F adc r20,r266133 3a3a 5B1F adc r21,r276134 3a3c 2093 0000 sts SummeRoll.3068,r186135 3a40 3093 0000 sts (SummeRoll.3068)+1,r196136 3a44 4093 0000 sts (SummeRoll.3068)+2,r206137 3a48 5093 0000 sts (SummeRoll.3068)+3,r216138 .L1018:6139 3a4c 2130 cpi r18,lo8(64001)6140 3a4e FAEF ldi r31,hi8(64001)6141 3a50 3F07 cpc r19,r316142 3a52 F0E0 ldi r31,hlo8(64001)6143 3a54 4F07 cpc r20,r316144 3a56 F0E0 ldi r31,hhi8(64001)6145 3a58 5F07 cpc r21,r316146 3a5a 04F4 brge .+26147 3a5c 00C0 rjmp .L10196148 3a5e 20E0 ldi r18,lo8(64000)6149 3a60 3AEF ldi r19,hi8(64000)6150 3a62 40E0 ldi r20,hlo8(64000)6151 3a64 50E0 ldi r21,hhi8(64000)6152 3a66 2093 0000 sts SummeRoll.3068,r186153 3a6a 3093 0000 sts (SummeRoll.3068)+1,r196154 3a6e 4093 0000 sts (SummeRoll.3068)+2,r206155 3a72 5093 0000 sts (SummeRoll.3068)+3,r216156 .L1021:6157 3a76 CA01 movw r24,r206158 3a78 B901 movw r22,r186159 3a7a A401 movw r20,r86160 3a7c 9301 movw r18,r66161 3a7e 0E94 0000 call __divmodsi46162 3a82 B201 movw r22,r46163 3a84 620F add r22,r186164 3a86 731F adc r23,r196165 3a88 9701 movw r18,r146166 3a8a 6E15 cp r22,r146167 3a8c 7F05 cpc r23,r156168 3a8e 04F4 brge .L10236169 3a90 9B01 movw r18,r226170 .L1023:6171 3a92 7901 movw r14,r186172 3a94 8A89 ldd r24,Y+186173 3a96 9B89 ldd r25,Y+196174 3a98 2817 cp r18,r246175 3a9a 3907 cpc r19,r256176 3a9c 04F4 brge .L10246177 3a9e 7C01 movw r14,r246178 .L1024:6179 3aa0 4501 movw r8,r106180 3aa2 800E add r8,r166181 3aa4 911E adc r9,r176182 3aa6 6091 0000 lds r22,motorwert1.30796183 3aaa 7091 0000 lds r23,(motorwert1.3079)+16184 3aae C601 movw r24,r126185 3ab0 880D add r24,r86186 3ab2 991D adc r25,r96187 3ab4 0E94 0000 call MotorSmoothing6188 3ab8 9093 0000 sts (motorwert1.3079)+1,r256189 3abc 8093 0000 sts motorwert1.3079,r246190 3ac0 97FD sbrc r25,76191 3ac2 00C0 rjmp .L11016192 .L1025:6193 3ac4 9C01 movw r18,r246194 3ac6 3595 asr r196195 3ac8 2795 ror r186196 3aca 3595 asr r196197 3acc 2795 ror r186198 3ace 8091 0000 lds r24,MIN_GAS6199 3ad2 682E mov r6,r246200 3ad4 7724 clr r76201 3ad6 2615 cp r18,r66202 3ad8 3705 cpc r19,r76203 3ada 04F0 brlt .+26204 3adc 00C0 rjmp .L10266205 3ade C301 movw r24,r66206 .L1028:6207 3ae0 8093 0000 sts Motor_Vorne,r246208 3ae4 6091 0000 lds r22,motorwert2.30806209 3ae8 7091 0000 lds r23,(motorwert2.3080)+16210 3aec C401 movw r24,r86211 3aee 8C19 sub r24,r126212 3af0 9D09 sbc r25,r136213 3af2 0E94 0000 call MotorSmoothing6214 3af6 9093 0000 sts (motorwert2.3080)+1,r256215 3afa 8093 0000 sts motorwert2.3080,r246216 3afe 97FD sbrc r25,76217 3b00 00C0 rjmp .L11026218 .L1030:6219 3b02 9595 asr r256220 3b04 8795 ror r246221 3b06 9595 asr r256222 3b08 8795 ror r246223 3b0a 8615 cp r24,r66224 3b0c 9705 cpc r25,r76225 3b0e 04F0 brlt .+26226 3b10 00C0 rjmp .L10316227 3b12 C301 movw r24,r66228 .L1033:6229 3b14 8093 0000 sts Motor_Hinten,r246230 3b18 6091 0000 lds r22,motorwert3.30816231 3b1c 7091 0000 lds r23,(motorwert3.3081)+16232 3b20 C801 movw r24,r166233 3b22 8A19 sub r24,r106234 3b24 9B09 sbc r25,r116235 3b26 8E0D add r24,r146236 3b28 9F1D adc r25,r156237 3b2a 0E94 0000 call MotorSmoothing6238 3b2e 9093 0000 sts (motorwert3.3081)+1,r256239 3b32 8093 0000 sts motorwert3.3081,r246240 3b36 97FD sbrc r25,76241 3b38 00C0 rjmp .L11036242 .L1035:6243 3b3a 9595 asr r256244 3b3c 8795 ror r246245 3b3e 9595 asr r256246 3b40 8795 ror r246247 3b42 8615 cp r24,r66248 3b44 9705 cpc r25,r76249 3b46 04F4 brge .L10366250 3b48 C301 movw r24,r66251 .L1038:6252 3b4a 8093 0000 sts Motor_Links,r246253 3b4e 6091 0000 lds r22,motorwert4.30826254 3b52 7091 0000 lds r23,(motorwert4.3082)+16255 3b56 0E19 sub r16,r146256 3b58 1F09 sbc r17,r156257 3b5a C801 movw r24,r166258 3b5c 8A19 sub r24,r106259 3b5e 9B09 sbc r25,r116260 3b60 0E94 0000 call MotorSmoothing6261 3b64 9093 0000 sts (motorwert4.3082)+1,r256262 3b68 8093 0000 sts motorwert4.3082,r246263 3b6c 97FD sbrc r25,76264 3b6e 00C0 rjmp .L11046265 .L1040:6266 3b70 9595 asr r256267 3b72 8795 ror r246268 3b74 9595 asr r256269 3b76 8795 ror r246270 3b78 8615 cp r24,r66271 3b7a 9705 cpc r25,r76272 3b7c 04F4 brge .+46273 3b7e 0C94 0000 jmp .L10416274 3b82 3C01 movw r6,r246275 3b84 2816 cp r2,r246276 3b86 3906 cpc r3,r256277 3b88 04F0 brlt .+46278 3b8a 0C94 0000 jmp .L10416279 3b8e 3101 movw r6,r26280 3b90 0C94 0000 jmp .L10416281 .L1036:6282 3b94 2816 cp r2,r246283 3b96 3906 cpc r3,r256284 3b98 04F4 brge .L10386285 3b9a C101 movw r24,r26286 3b9c 00C0 rjmp .L10386287 .L1031:6288 3b9e 2816 cp r2,r246289 3ba0 3906 cpc r3,r256290 3ba2 04F0 brlt .+26291 3ba4 00C0 rjmp .L10336292 3ba6 C101 movw r24,r26293 3ba8 00C0 rjmp .L10336294 .L1026:6295 3baa C901 movw r24,r186296 3bac 2216 cp r2,r186297 3bae 3306 cpc r3,r196298 3bb0 04F0 brlt .+26299 3bb2 00C0 rjmp .L10286300 3bb4 C101 movw r24,r26301 3bb6 00C0 rjmp .L10286302 .L1019:6303 3bb8 2030 cpi r18,lo8(-64000)6304 3bba 66E0 ldi r22,hi8(-64000)6305 3bbc 3607 cpc r19,r226306 3bbe 6FEF ldi r22,hlo8(-64000)6307 3bc0 4607 cpc r20,r226308 3bc2 6FEF ldi r22,hhi8(-64000)6309 3bc4 5607 cpc r21,r226310 3bc6 04F0 brlt .+26311 3bc8 00C0 rjmp .L10216312 3bca 20E0 ldi r18,lo8(-64000)6313 3bcc 36E0 ldi r19,hi8(-64000)6314 3bce 4FEF ldi r20,hlo8(-64000)6315 3bd0 5FEF ldi r21,hhi8(-64000)6316 3bd2 2093 0000 sts SummeRoll.3068,r186317 3bd6 3093 0000 sts (SummeRoll.3068)+1,r196318 3bda 4093 0000 sts (SummeRoll.3068)+2,r206319 3bde 5093 0000 sts (SummeRoll.3068)+3,r216320 3be2 00C0 rjmp .L10216321 .L1016:6322 3be4 C201 movw r24,r46323 3be6 AA27 clr r266324 3be8 97FD sbrc r25,76325 3bea A095 com r266326 3bec BA2F mov r27,r266327 3bee 2091 0000 lds r18,SummeRoll.30686328 3bf2 3091 0000 lds r19,(SummeRoll.3068)+16329 3bf6 4091 0000 lds r20,(SummeRoll.3068)+26330 3bfa 5091 0000 lds r21,(SummeRoll.3068)+36331 3bfe 280F add r18,r246332 3c00 391F adc r19,r256333 3c02 4A1F adc r20,r266334 3c04 5B1F adc r21,r276335 3c06 2093 0000 sts SummeRoll.3068,r186336 3c0a 3093 0000 sts (SummeRoll.3068)+1,r196337 3c0e 4093 0000 sts (SummeRoll.3068)+2,r206338 3c12 5093 0000 sts (SummeRoll.3068)+3,r216339 3c16 00C0 rjmp .L10186340 .L1008:6341 3c18 2030 cpi r18,lo8(-64000)6342 3c1a 66E0 ldi r22,hi8(-64000)6343 3c1c 3607 cpc r19,r226344 3c1e 6FEF ldi r22,hlo8(-64000)6345 3c20 4607 cpc r20,r226346 3c22 6FEF ldi r22,hhi8(-64000)6347 3c24 5607 cpc r21,r226348 3c26 04F0 brlt .+26349 3c28 00C0 rjmp .L10106350 3c2a 20E0 ldi r18,lo8(-64000)6351 3c2c 36E0 ldi r19,hi8(-64000)6352 3c2e 4FEF ldi r20,hlo8(-64000)6353 3c30 5FEF ldi r21,hhi8(-64000)6354 3c32 2093 0000 sts SummeNick.3067,r186355 3c36 3093 0000 sts (SummeNick.3067)+1,r196356 3c3a 4093 0000 sts (SummeNick.3067)+2,r206357 3c3e 5093 0000 sts (SummeNick.3067)+3,r216358 3c42 00C0 rjmp .L10106359 .L1005:6360 3c44 C601 movw r24,r126361 3c46 AA27 clr r266362 3c48 97FD sbrc r25,76363 3c4a A095 com r266364 3c4c BA2F mov r27,r266365 3c4e 2091 0000 lds r18,SummeNick.30676366 3c52 3091 0000 lds r19,(SummeNick.3067)+16367 3c56 4091 0000 lds r20,(SummeNick.3067)+26368 3c5a 5091 0000 lds r21,(SummeNick.3067)+36369 3c5e 280F add r18,r246370 3c60 391F adc r19,r256371 3c62 4A1F adc r20,r266372 3c64 5B1F adc r21,r276373 3c66 2093 0000 sts SummeNick.3067,r186374 3c6a 3093 0000 sts (SummeNick.3067)+1,r196375 3c6e 4093 0000 sts (SummeNick.3067)+2,r206376 3c72 5093 0000 sts (SummeNick.3067)+3,r216377 3c76 00C0 rjmp .L10076378 .L995:6379 3c78 9701 movw r18,r146380 3c7a 7FEF ldi r23,hi8(-80)6381 3c7c 203B cpi r18,lo8(-80)6382 3c7e 3707 cpc r19,r236383 3c80 04F4 brge .L10016384 3c82 20EB ldi r18,lo8(-80)6385 3c84 3FEF ldi r19,hi8(-80)6386 .L1001:6387 3c86 2135 cpi r18,816388 3c88 3105 cpc r19,__zero_reg__6389 3c8a 04F4 brge .+26390 3c8c 00C0 rjmp .L9976391 3c8e 20E5 ldi r18,lo8(80)6392 3c90 30E0 ldi r19,hi8(80)6393 3c92 00C0 rjmp .L9976394 .L961:6395 3c94 40E0 ldi r20,lo8(-16384)6396 3c96 8416 cp r8,r206397 3c98 40EC ldi r20,hi8(-16384)6398 3c9a 9406 cpc r9,r206399 3c9c 04F0 brlt .+26400 3c9e 00C0 rjmp .L9636401 3ca0 812C mov r8,__zero_reg__6402 3ca2 00EC ldi r16,hi8(-16384)6403 3ca4 902E mov r9,r166404 3ca6 9092 0000 sts (MesswertGier)+1,r96405 3caa 8092 0000 sts MesswertGier,r86406 3cae 00C0 rjmp .L9636407 .L957:6408 3cb0 20E0 ldi r18,lo8(-16384)6409 3cb2 4216 cp r4,r186410 3cb4 20EC ldi r18,hi8(-16384)6411 3cb6 5206 cpc r5,r186412 3cb8 04F0 brlt .+26413 3cba 00C0 rjmp .L9596414 3cbc 412C mov r4,__zero_reg__6415 3cbe 90EC ldi r25,hi8(-16384)6416 3cc0 592E mov r5,r256417 3cc2 5092 0000 sts (MesswertRoll)+1,r56418 3cc6 4092 0000 sts MesswertRoll,r46419 3cca 00C0 rjmp .L9596420 .L953:6421 3ccc E0E0 ldi r30,lo8(-16384)6422 3cce 6E16 cp r6,r306423 3cd0 E0EC ldi r30,hi8(-16384)6424 3cd2 7E06 cpc r7,r306425 3cd4 04F0 brlt .+26426 3cd6 00C0 rjmp .L9556427 3cd8 612C mov r6,__zero_reg__6428 3cda 30EC ldi r19,hi8(-16384)6429 3cdc 732E mov r7,r196430 3cde 7092 0000 sts (MesswertNick)+1,r76431 3ce2 6092 0000 sts MesswertNick,r66432 3ce6 00C0 rjmp .L9556433 .L949:6434 3ce8 EDA5 ldd r30,Y+456435 3cea FEA5 ldd r31,Y+466436 3cec E853 subi r30,lo8(-200)6437 3cee FF4F sbci r31,hi8(-200)6438 3cf0 04F0 brlt .+26439 3cf2 00C0 rjmp .L9516440 3cf4 48E3 ldi r20,lo8(-200)6441 3cf6 5FEF ldi r21,hi8(-200)6442 3cf8 5EA7 std Y+46,r216443 3cfa 4DA7 std Y+45,r206444 3cfc 5093 0000 sts (TrimRoll)+1,r216445 3d00 4093 0000 sts TrimRoll,r206446 3d04 00C0 rjmp .L9516447 .L945:6448 3d06 4FEF ldi r20,hi8(-200)6449 3d08 8833 cpi r24,lo8(-200)6450 3d0a 9407 cpc r25,r206451 3d0c 04F0 brlt .+26452 3d0e 00C0 rjmp .L9476453 3d10 88E3 ldi r24,lo8(-200)6454 3d12 9FEF ldi r25,hi8(-200)6455 3d14 9093 0000 sts (TrimNick)+1,r256456 3d18 8093 0000 sts TrimNick,r246457 3d1c 00C0 rjmp .L9476458 .L942:6459 3d1e 3DA1 ldd r19,Y+376460 3d20 632F mov r22,r196461 3d22 70E0 ldi r23,lo8(0)6462 3d24 80E0 ldi r24,lo8(0)6463 3d26 90E0 ldi r25,hi8(0)6464 3d28 2D81 ldd r18,Y+56465 3d2a 3E81 ldd r19,Y+66466 3d2c 4F81 ldd r20,Y+76467 3d2e 5885 ldd r21,Y+86468 3d30 0E94 0000 call __mulsi36469 3d34 28EF ldi r18,lo8(11000)6470 3d36 3AE2 ldi r19,hi8(11000)6471 3d38 40E0 ldi r20,hlo8(11000)6472 3d3a 50E0 ldi r21,hhi8(11000)6473 3d3c 0E94 0000 call __divmodsi46474 3d40 3D87 std Y+13,r196475 3d42 2C87 std Y+12,r186476 3d44 1901 movw r2,r186477 3d46 00C0 rjmp .L9446478 .L939:6479 3d48 FDA1 ldd r31,Y+376480 3d4a 6F2F mov r22,r316481 3d4c 70E0 ldi r23,lo8(0)6482 3d4e 80E0 ldi r24,lo8(0)6483 3d50 90E0 ldi r25,hi8(0)6484 3d52 2981 ldd r18,Y+16485 3d54 3A81 ldd r19,Y+26486 3d56 4B81 ldd r20,Y+36487 3d58 5C81 ldd r21,Y+46488 3d5a 0E94 0000 call __mulsi36489 3d5e 28EF ldi r18,lo8(11000)6490 3d60 3AE2 ldi r19,hi8(11000)6491 3d62 40E0 ldi r20,hlo8(11000)6492 3d64 50E0 ldi r21,hhi8(11000)6493 3d66 0E94 0000 call __divmodsi46494 3d6a 3F87 std Y+15,r196495 3d6c 2E87 std Y+14,r186496 3d6e 2901 movw r4,r186497 3d70 00C0 rjmp .L9416498 .L905:6499 3d72 805B subi r24,lo8(-50000)6500 3d74 9C43 sbci r25,hi8(-50000)6501 3d76 AF4F sbci r26,hlo8(-50000)6502 3d78 BF4F sbci r27,hhi8(-50000)6503 3d7a 04F0 brlt .+46504 3d7c 0C94 0000 jmp .L9076505 3d80 80EB ldi r24,lo8(-50000)6506 3d82 9CE3 ldi r25,hi8(-50000)6507 3d84 AFEF ldi r26,hlo8(-50000)6508 3d86 BFEF ldi r27,hhi8(-50000)6509 3d88 8093 0000 sts Mess_Integral_Gier,r246510 3d8c 9093 0000 sts (Mess_Integral_Gier)+1,r256511 3d90 A093 0000 sts (Mess_Integral_Gier)+2,r266512 3d94 B093 0000 sts (Mess_Integral_Gier)+3,r276513 3d98 0C94 0000 jmp .L9076514 .L1046:6515 3d9c 5091 0000 lds r21,TrichterFlug6516 3da0 5EA3 std Y+38,r216517 3da2 6091 0000 lds r22,IntegralFaktor6518 3da6 6DA3 std Y+37,r226519 3da8 E090 0000 lds r14,StickGier6520 3dac F090 0000 lds r15,(StickGier)+16521 3db0 6701 movw r12,r146522 3db2 F7FC sbrc r15,76523 3db4 00C0 rjmp .+46524 3db6 0C94 0000 jmp .L9006525 .L1059:6526 3dba CC24 clr r126527 3dbc DD24 clr r136528 3dbe CE18 sub r12,r146529 3dc0 DF08 sbc r13,r156530 3dc2 0C94 0000 jmp .L9006531 .L1057:6532 3dc6 4091 0000 lds r20,Looping_Roll6533 3dca 4CA7 std Y+44,r206534 3dcc 4423 tst r206535 3dce 01F4 brne .+26536 3dd0 00C0 rjmp .L11056537 3dd2 1092 0000 sts IntegralAccNick,__zero_reg__6538 3dd6 1092 0000 sts (IntegralAccNick)+1,__zero_reg__6539 3dda 1092 0000 sts (IntegralAccNick)+2,__zero_reg__6540 3dde 1092 0000 sts (IntegralAccNick)+3,__zero_reg__6541 3de2 1092 0000 sts IntegralAccRoll,__zero_reg__6542 3de6 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__6543 3dea 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__6544 3dee 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__6545 3df2 1092 0000 sts MittelIntegralNick,__zero_reg__6546 3df6 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__6547 3dfa 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__6548 3dfe 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__6549 3e02 1092 0000 sts MittelIntegralRoll,__zero_reg__6550 3e06 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__6551 3e0a 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__6552 3e0e 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__6553 3e12 1092 0000 sts MittelIntegralNick2,__zero_reg__6554 3e16 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__6555 3e1a 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__6556 3e1e 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__6557 3e22 1092 0000 sts MittelIntegralRoll2,__zero_reg__6558 3e26 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__6559 3e2a 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__6560 3e2e 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__6561 3e32 8091 0000 lds r24,Mess_IntegralNick6562 3e36 9091 0000 lds r25,(Mess_IntegralNick)+16563 3e3a A091 0000 lds r26,(Mess_IntegralNick)+26564 3e3e B091 0000 lds r27,(Mess_IntegralNick)+36565 3e42 8093 0000 sts Mess_IntegralNick2,r246566 3e46 9093 0000 sts (Mess_IntegralNick2)+1,r256567 3e4a A093 0000 sts (Mess_IntegralNick2)+2,r266568 3e4e B093 0000 sts (Mess_IntegralNick2)+3,r276569 3e52 8091 0000 lds r24,Mess_IntegralRoll6570 3e56 9091 0000 lds r25,(Mess_IntegralRoll)+16571 3e5a A091 0000 lds r26,(Mess_IntegralRoll)+26572 3e5e B091 0000 lds r27,(Mess_IntegralRoll)+36573 3e62 8093 0000 sts Mess_IntegralRoll2,r246574 3e66 9093 0000 sts (Mess_IntegralRoll2)+1,r256575 3e6a A093 0000 sts (Mess_IntegralRoll2)+2,r266576 3e6e B093 0000 sts (Mess_IntegralRoll2)+3,r276577 3e72 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__6578 3e76 1092 0000 sts ZaehlMessungen,__zero_reg__6579 3e7a 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__6580 3e7e 1092 0000 sts LageKorrekturNick,__zero_reg__6581 3e82 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__6582 3e86 1092 0000 sts LageKorrekturRoll,__zero_reg__6583 3e8a 0C94 0000 jmp .L8016584 .L1105:6585 3e8e 8091 0000 lds r24,Aktuell_az6586 3e92 9091 0000 lds r25,(Aktuell_az)+16587 3e96 8150 subi r24,lo8(513)6588 3e98 9240 sbci r25,hi8(513)6589 3e9a 04F4 brge .+46590 3e9c 0C94 0000 jmp .L8016591 3ea0 8091 0000 lds r24,FromNaviCtrl_Value6592 3ea4 8F3F cpi r24,lo8(-1)6593 3ea6 01F4 brne .+46594 3ea8 0C94 0000 jmp .L8036595 3eac E090 0000 lds r14,EE_Parameter+206596 3eb0 FF24 clr r156597 3eb2 00E0 ldi r16,lo8(0)6598 3eb4 10E0 ldi r17,hi8(0)6599 3eb6 A82E mov r10,r246600 3eb8 BB24 clr r116601 3eba A7FC sbrc r10,76602 3ebc B094 com r116603 3ebe CB2C mov r12,r116604 3ec0 DB2C mov r13,r116605 3ec2 6981 ldd r22,Y+16606 3ec4 7A81 ldd r23,Y+26607 3ec6 8B81 ldd r24,Y+36608 3ec8 9C81 ldd r25,Y+46609 3eca A801 movw r20,r166610 3ecc 9701 movw r18,r146611 3ece 0E94 0000 call __divmodsi46612 3ed2 8091 0000 lds r24,Mittelwert_AccNick6613 3ed6 9091 0000 lds r25,(Mittelwert_AccNick)+16614 3eda AA27 clr r266615 3edc 97FD sbrc r25,76616 3ede A095 com r266617 3ee0 BA2F mov r27,r266618 3ee2 281B sub r18,r246619 3ee4 390B sbc r19,r256620 3ee6 4A0B sbc r20,r266621 3ee8 5B0B sbc r21,r276622 3eea CA01 movw r24,r206623 3eec B901 movw r22,r186624 3eee A601 movw r20,r126625 3ef0 9501 movw r18,r106626 3ef2 0E94 0000 call __mulsi36627 3ef6 20E0 ldi r18,lo8(512)6628 3ef8 32E0 ldi r19,hi8(512)6629 3efa 40E0 ldi r20,hlo8(512)6630 3efc 50E0 ldi r21,hhi8(512)6631 3efe 0E94 0000 call __divmodsi46632 3f02 3901 movw r6,r186633 3f04 4A01 movw r8,r206634 3f06 6D81 ldd r22,Y+56635 3f08 7E81 ldd r23,Y+66636 3f0a 8F81 ldd r24,Y+76637 3f0c 9885 ldd r25,Y+86638 3f0e A801 movw r20,r166639 3f10 9701 movw r18,r146640 3f12 0E94 0000 call __divmodsi46641 3f16 8091 0000 lds r24,Mittelwert_AccRoll6642 3f1a 9091 0000 lds r25,(Mittelwert_AccRoll)+16643 3f1e AA27 clr r266644 3f20 97FD sbrc r25,76645 3f22 A095 com r266646 3f24 BA2F mov r27,r266647 3f26 281B sub r18,r246648 3f28 390B sbc r19,r256649 3f2a 4A0B sbc r20,r266650 3f2c 5B0B sbc r21,r276651 3f2e CA01 movw r24,r206652 3f30 B901 movw r22,r186653 3f32 A601 movw r20,r126654 3f34 9501 movw r18,r106655 3f36 0E94 0000 call __mulsi36656 3f3a 20E0 ldi r18,lo8(512)6657 3f3c 32E0 ldi r19,hi8(512)6658 3f3e 40E0 ldi r20,hlo8(512)6659 3f40 50E0 ldi r21,hhi8(512)6660 3f42 0E94 0000 call __divmodsi46661 3f46 5901 movw r10,r186662 3f48 6A01 movw r12,r206663 3f4a 8091 0000 lds r24,MaxStickNick6664 3f4e 9091 0000 lds r25,(MaxStickNick)+16665 3f52 8134 cpi r24,656666 3f54 9105 cpc r25,__zero_reg__6667 3f56 04F0 brlt .+26668 3f58 00C0 rjmp .L8056669 3f5a 8091 0000 lds r24,MaxStickRoll6670 3f5e 9091 0000 lds r25,(MaxStickRoll)+16671 3f62 8134 cpi r24,656672 3f64 9105 cpc r25,__zero_reg__6673 3f66 04F0 brlt .+26674 3f68 00C0 rjmp .L8056675 .L807:6676 3f6a E091 0000 lds r30,EE_Parameter+36677 3f6e F0E0 ldi r31,lo8(0)6678 3f70 EE0F lsl r306679 3f72 FF1F rol r316680 3f74 E050 subi r30,lo8(-(PPM_in))6681 3f76 F040 sbci r31,hi8(-(PPM_in))6682 3f78 0190 ld __tmp_reg__,Z+6683 3f7a F081 ld r31,Z6684 3f7c E02D mov r30,__tmp_reg__6685 3f7e F7FF sbrs r31,76686 3f80 00C0 rjmp .+46687 3f82 0C94 0000 jmp .L11066688 .L809:6689 3f86 7A97 sbiw r30,266690 3f88 04F0 brlt .L8086691 3f8a C401 movw r24,r86692 3f8c B301 movw r22,r66693 3f8e 23E0 ldi r18,lo8(3)6694 3f90 30E0 ldi r19,hi8(3)6695 3f92 40E0 ldi r20,hlo8(3)6696 3f94 50E0 ldi r21,hhi8(3)6697 3f96 0E94 0000 call __divmodsi46698 3f9a 3901 movw r6,r186699 3f9c 4A01 movw r8,r206700 3f9e C601 movw r24,r126701 3fa0 B501 movw r22,r106702 3fa2 23E0 ldi r18,lo8(3)6703 3fa4 30E0 ldi r19,hi8(3)6704 3fa6 40E0 ldi r20,hlo8(3)6705 3fa8 50E0 ldi r21,hhi8(3)6706 3faa 0E94 0000 call __divmodsi46707 3fae 5901 movw r10,r186708 3fb0 6A01 movw r12,r206709 .L808:6710 3fb2 8091 0000 lds r24,FromNaviCtrl_Value+26711 3fb6 E82E mov r14,r246712 3fb8 FF24 clr r156713 3fba E7FC sbrc r14,76714 3fbc F094 com r156715 3fbe 0F2D mov r16,r156716 3fc0 1F2D mov r17,r156717 3fc2 A401 movw r20,r86718 3fc4 9301 movw r18,r66719 3fc6 E614 cp r14,r66720 3fc8 F704 cpc r15,r76721 3fca 0805 cpc r16,r86722 3fcc 1905 cpc r17,r96723 3fce 04F4 brge .L8116724 3fd0 A801 movw r20,r166725 3fd2 9701 movw r18,r146726 .L811:6727 3fd4 9927 clr r256728 3fd6 87FD sbrc r24,76729 3fd8 9095 com r256730 3fda 9095 com r256731 3fdc 8195 neg r246732 3fde 9F4F sbci r25,lo8(-1)6733 3fe0 AA27 clr r266734 3fe2 97FD sbrc r25,76735 3fe4 A095 com r266736 3fe6 BA2F mov r27,r266737 3fe8 3901 movw r6,r186738 3fea 4A01 movw r8,r206739 3fec 2817 cp r18,r246740 3fee 3907 cpc r19,r256741 3ff0 4A07 cpc r20,r266742 3ff2 5B07 cpc r21,r276743 3ff4 04F4 brge .L8126744 3ff6 3C01 movw r6,r246745 3ff8 4D01 movw r8,r266746 .L812:6747 3ffa EA14 cp r14,r106748 3ffc FB04 cpc r15,r116749 3ffe 0C05 cpc r16,r126750 4000 1D05 cpc r17,r136751 4002 04F4 brge .L8136752 4004 5701 movw r10,r146753 4006 6801 movw r12,r166754 .L813:6755 4008 A816 cp r10,r246756 400a B906 cpc r11,r256757 400c CA06 cpc r12,r266758 400e DB06 cpc r13,r276759 4010 04F4 brge .L8146760 4012 5C01 movw r10,r246761 4014 6D01 movw r12,r266762 .L814:6763 4016 8091 0000 lds r24,Mess_IntegralNick6764 401a 9091 0000 lds r25,(Mess_IntegralNick)+16765 401e A091 0000 lds r26,(Mess_IntegralNick)+26766 4022 B091 0000 lds r27,(Mess_IntegralNick)+36767 4026 8619 sub r24,r66768 4028 9709 sbc r25,r76769 402a A809 sbc r26,r86770 402c B909 sbc r27,r96771 402e 8093 0000 sts Mess_IntegralNick,r246772 4032 9093 0000 sts (Mess_IntegralNick)+1,r256773 4036 A093 0000 sts (Mess_IntegralNick)+2,r266774 403a B093 0000 sts (Mess_IntegralNick)+3,r276775 403e 8091 0000 lds r24,Mess_IntegralRoll6776 4042 9091 0000 lds r25,(Mess_IntegralRoll)+16777 4046 A091 0000 lds r26,(Mess_IntegralRoll)+26778 404a B091 0000 lds r27,(Mess_IntegralRoll)+36779 404e 8A19 sub r24,r106780 4050 9B09 sbc r25,r116781 4052 AC09 sbc r26,r126782 4054 BD09 sbc r27,r136783 4056 8093 0000 sts Mess_IntegralRoll,r246784 405a 9093 0000 sts (Mess_IntegralRoll)+1,r256785 405e A093 0000 sts (Mess_IntegralRoll)+2,r266786 4062 B093 0000 sts (Mess_IntegralRoll)+3,r276787 4066 0C94 0000 jmp .L8016788 .L1095:6789 406a 88E1 ldi r24,lo8(24)6790 406c 8093 0000 sts TimerWerteausgabe.3087,r246791 4070 E090 0000 lds r14,EE_Parameter+206792 4074 FF24 clr r156793 4076 EE0C lsl r146794 4078 FF1C rol r156795 407a EE0C lsl r146796 407c FF1C rol r156797 407e 0027 clr r166798 4080 F7FC sbrc r15,76799 4082 0095 com r166800 4084 102F mov r17,r166801 4086 6981 ldd r22,Y+16802 4088 7A81 ldd r23,Y+26803 408a 8B81 ldd r24,Y+36804 408c 9C81 ldd r25,Y+46805 408e A801 movw r20,r166806 4090 9701 movw r18,r146807 4092 0E94 0000 call __divmodsi46808 4096 3093 0000 sts (DebugOut+2)+1,r196809 409a 2093 0000 sts DebugOut+2,r186810 409e 6D81 ldd r22,Y+56811 40a0 7E81 ldd r23,Y+66812 40a2 8F81 ldd r24,Y+76813 40a4 9885 ldd r25,Y+86814 40a6 A801 movw r20,r166815 40a8 9701 movw r18,r146816 40aa 0E94 0000 call __divmodsi46817 40ae 3093 0000 sts (DebugOut+4)+1,r196818 40b2 2093 0000 sts DebugOut+4,r186819 40b6 8091 0000 lds r24,Mittelwert_AccNick6820 40ba 9091 0000 lds r25,(Mittelwert_AccNick)+16821 40be 97FD sbrc r25,76822 40c0 00C0 rjmp .L11076823 .L935:6824 40c2 9595 asr r256825 40c4 8795 ror r246826 40c6 9595 asr r256827 40c8 8795 ror r246828 40ca 9093 0000 sts (DebugOut+6)+1,r256829 40ce 8093 0000 sts DebugOut+6,r246830 40d2 8091 0000 lds r24,Mittelwert_AccRoll6831 40d6 9091 0000 lds r25,(Mittelwert_AccRoll)+16832 40da 97FD sbrc r25,76833 40dc 00C0 rjmp .L11086834 .L936:6835 40de 9595 asr r256836 40e0 8795 ror r246837 40e2 9595 asr r256838 40e4 8795 ror r246839 40e6 9093 0000 sts (DebugOut+8)+1,r256840 40ea 8093 0000 sts DebugOut+8,r246841 40ee 9092 0000 sts (DebugOut+10)+1,r96842 40f2 8092 0000 sts DebugOut+10,r86843 40f6 2091 0000 lds r18,HoehenWert6844 40fa 3091 0000 lds r19,(HoehenWert)+16845 40fe 3093 0000 sts (DebugOut+12)+1,r196846 4102 2093 0000 sts DebugOut+12,r186847 4106 6091 0000 lds r22,Mess_Integral_Hoch6848 410a 7091 0000 lds r23,(Mess_Integral_Hoch)+16849 410e 8091 0000 lds r24,(Mess_Integral_Hoch)+26850 4112 9091 0000 lds r25,(Mess_Integral_Hoch)+36851 4116 20E0 ldi r18,lo8(512)6852 4118 32E0 ldi r19,hi8(512)6853 411a 40E0 ldi r20,hlo8(512)6854 411c 50E0 ldi r21,hhi8(512)6855 411e 0E94 0000 call __divmodsi46856 4122 3093 0000 sts (DebugOut+14)+1,r196857 4126 2093 0000 sts DebugOut+14,r186858 412a 3092 0000 sts (DebugOut+18)+1,r36859 412e 2092 0000 sts DebugOut+18,r26860 4132 8091 0000 lds r24,UBat6861 4136 9091 0000 lds r25,(UBat)+16862 413a 9093 0000 sts (DebugOut+20)+1,r256863 413e 8093 0000 sts DebugOut+20,r246864 4142 6091 0000 lds r22,ErsatzKompass6865 4146 7091 0000 lds r23,(ErsatzKompass)+16866 414a 8091 0000 lds r24,(ErsatzKompass)+26867 414e 9091 0000 lds r25,(ErsatzKompass)+36868 4152 2091 0000 lds r18,GIER_GRAD_FAKTOR6869 4156 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+16870 415a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+26871 415e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+36872 4162 0E94 0000 call __divmodsi46873 4166 3093 0000 sts (DebugOut+24)+1,r196874 416a 2093 0000 sts DebugOut+24,r186875 416e 8091 0000 lds r24,SenderOkay6876 4172 90E0 ldi r25,lo8(0)6877 4174 9093 0000 sts (DebugOut+22)+1,r256878 4178 8093 0000 sts DebugOut+22,r246879 417c 8091 0000 lds r24,WinkelOut+66880 4180 90E0 ldi r25,lo8(0)6881 4182 9093 0000 sts (DebugOut+40)+1,r256882 4186 8093 0000 sts DebugOut+40,r246883 418a 8091 0000 lds r24,ServoValue6884 418e 9091 0000 lds r25,(ServoValue)+16885 4192 9093 0000 sts (DebugOut+42)+1,r256886 4196 8093 0000 sts DebugOut+42,r246887 419a 8091 0000 lds r24,FromNaviCtrl_Value+16888 419e 9927 clr r256889 41a0 87FD sbrc r24,76890 41a2 9095 com r256891 41a4 9093 0000 sts (DebugOut+56)+1,r256892 41a8 8093 0000 sts DebugOut+56,r246893 41ac 8091 0000 lds r24,GPS_Nick6894 41b0 9091 0000 lds r25,(GPS_Nick)+16895 41b4 9093 0000 sts (DebugOut+62)+1,r256896 41b8 8093 0000 sts DebugOut+62,r246897 41bc 8091 0000 lds r24,GPS_Roll6898 41c0 9091 0000 lds r25,(GPS_Roll)+16899 41c4 9093 0000 sts (DebugOut+64)+1,r256900 41c8 8093 0000 sts DebugOut+64,r246901 41cc 00C0 rjmp .L9336902 .L751:6903 41ce 4150 subi r20,lo8(-(-1))6904 41d0 5040 sbci r21,hi8(-(-1))6905 41d2 5093 0000 sts (MaxStickRoll)+1,r216906 41d6 4093 0000 sts MaxStickRoll,r206907 41da 00C0 rjmp .L7576908 .L743:6909 41dc 4150 subi r20,lo8(-(-1))6910 41de 5040 sbci r21,hi8(-(-1))6911 41e0 5093 0000 sts (MaxStickNick)+1,r216912 41e4 4093 0000 sts MaxStickNick,r206913 41e8 00C0 rjmp .L7496914 .L967:6915 41ea 8091 0000 lds r24,Parameter_MaxHoehe6916 41ee 2091 0000 lds r18,ExternHoehenValue6917 41f2 3091 0000 lds r19,(ExternHoehenValue)+16918 41f6 280F add r18,r246919 41f8 311D adc r19,__zero_reg__6920 41fa 8091 0000 lds r24,EE_Parameter+136921 41fe 90E0 ldi r25,lo8(0)6922 4200 FC01 movw r30,r246923 4202 2E9F mul r18,r306924 4204 C001 movw r24,r06925 4206 2F9F mul r18,r316926 4208 900D add r25,r06927 420a 3E9F mul r19,r306928 420c 900D add r25,r06929 420e 1124 clr r16930 4210 4497 sbiw r24,206931 4212 9093 0000 sts (SollHoehe)+1,r256932 4216 8093 0000 sts SollHoehe,r246933 421a 81E0 ldi r24,lo8(1)6934 421c 8093 0000 sts HoehenReglerAktiv,r246935 4220 2091 0000 lds r18,HoehenWert6936 4224 3091 0000 lds r19,(HoehenWert)+16937 .L973:6938 4228 FFA1 ldd r31,Y+396939 422a FF23 tst r316940 422c 01F0 breq .L9796941 422e 1092 0000 sts (SollHoehe)+1,__zero_reg__6942 4232 1092 0000 sts SollHoehe,__zero_reg__6943 .L979:6944 4236 4091 0000 lds r20,SollHoehe6945 423a 5091 0000 lds r21,(SollHoehe)+16946 423e 4217 cp r20,r186947 4240 5307 cpc r21,r196948 4242 04F0 brlt .+26949 4244 00C0 rjmp .L9656950 4246 8091 0000 lds r24,HoehenReglerAktiv6951 424a 8823 tst r246952 424c 01F4 brne .+26953 424e 00C0 rjmp .L9656954 4250 8091 0000 lds r24,Parameter_Hoehe_P6955 4254 90E0 ldi r25,lo8(0)6956 4256 241B sub r18,r206957 4258 350B sbc r19,r216958 425a AC01 movw r20,r246959 425c 429F mul r20,r186960 425e C001 movw r24,r06961 4260 439F mul r20,r196962 4262 900D add r25,r06963 4264 529F mul r21,r186964 4266 900D add r25,r06965 4268 1124 clr r16966 426a 97FD sbrc r25,76967 426c 00C0 rjmp .L11096968 .L983:6969 426e 5C01 movw r10,r246970 4270 B594 asr r116971 4272 A794 ror r106972 4274 B594 asr r116973 4276 A794 ror r106974 4278 C090 0000 lds r12,HoeheD6975 427c D090 0000 lds r13,(HoeheD)+16976 4280 6091 0000 lds r22,Mess_Integral_Hoch6977 4284 7091 0000 lds r23,(Mess_Integral_Hoch)+16978 4288 8091 0000 lds r24,(Mess_Integral_Hoch)+26979 428c 9091 0000 lds r25,(Mess_Integral_Hoch)+36980 4290 E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung6981 4294 FF24 clr r156982 4296 00E0 ldi r16,lo8(0)6983 4298 10E0 ldi r17,hi8(0)6984 429a 20E8 ldi r18,lo8(128)6985 429c 30E0 ldi r19,hi8(128)6986 429e 40E0 ldi r20,hlo8(128)6987 42a0 50E0 ldi r21,hhi8(128)6988 42a2 0E94 0000 call __divmodsi46989 42a6 C801 movw r24,r166990 42a8 B701 movw r22,r146991 42aa 0E94 0000 call __mulsi36992 42ae 20E2 ldi r18,lo8(32)6993 42b0 30E0 ldi r19,hi8(32)6994 42b2 40E0 ldi r20,hlo8(32)6995 42b4 50E0 ldi r21,hhi8(32)6996 42b6 0E94 0000 call __divmodsi46997 42ba A901 movw r20,r186998 42bc 285E subi r18,lo8(-280)6999 42be 3E4F sbci r19,hi8(-280)7000 42c0 04F4 brge .L9847001 42c2 48EE ldi r20,lo8(-280)7002 42c4 5EEF ldi r21,hi8(-280)7003 .L984:7004 42c6 2091 0000 lds r18,hoehenregler.30787005 42ca 3091 0000 lds r19,(hoehenregler.3078)+17006 42ce C901 movw r24,r187007 42d0 880F lsl r247008 42d2 991F rol r257009 42d4 820F add r24,r187010 42d6 931F adc r25,r197011 42d8 BC01 movw r22,r247012 42da 660F lsl r227013 42dc 771F rol r237014 42de 660F lsl r227015 42e0 771F rol r237016 42e2 680F add r22,r247017 42e4 791F adc r23,r257018 42e6 9601 movw r18,r127019 42e8 D7FC sbrc r13,77020 42ea 00C0 rjmp .L11107021 .L985:7022 42ec 3595 asr r197023 42ee 2795 ror r187024 42f0 CB01 movw r24,r227025 42f2 821B sub r24,r187026 42f4 930B sbc r25,r197027 42f6 9A01 movw r18,r207028 42f8 4951 subi r20,lo8(281)7029 42fa 5140 sbci r21,hi8(281)7030 42fc 04F0 brlt .L9867031 42fe 28E1 ldi r18,lo8(280)7032 4300 31E0 ldi r19,hi8(280)7033 .L986:7034 4302 821B sub r24,r187035 4304 930B sbc r25,r197036 4306 9C01 movw r18,r247037 4308 8DA5 ldd r24,Y+457038 430a 9EA5 ldd r25,Y+467039 430c 8A19 sub r24,r107040 430e 9B09 sbc r25,r117041 4310 280F add r18,r247042 4312 391F adc r19,r257043 4314 37FD sbrc r19,77044 4316 00C0 rjmp .L11117045 .L987:7046 4318 3595 asr r197047 431a 2795 ror r187048 431c 3595 asr r197049 431e 2795 ror r187050 4320 3595 asr r197051 4322 2795 ror r187052 4324 3595 asr r197053 4326 2795 ror r187054 4328 3093 0000 sts (hoehenregler.3078)+1,r197055 432c 2093 0000 sts hoehenregler.3078,r187056 4330 8091 0000 lds r24,EE_Parameter+97057 4334 682F mov r22,r247058 4336 70E0 ldi r23,lo8(0)7059 4338 660F lsl r227060 433a 771F rol r237061 433c 660F lsl r227062 433e 771F rol r237063 4340 2617 cp r18,r227064 4342 3707 cpc r19,r237065 4344 04F0 brlt .+27066 4346 00C0 rjmp .L9887067 4348 8DA5 ldd r24,Y+457068 434a 9EA5 ldd r25,Y+467069 434c 8617 cp r24,r227070 434e 9707 cpc r25,r237071 4350 04F4 brge .+27072 4352 00C0 rjmp .L9907073 4354 7093 0000 sts (hoehenregler.3078)+1,r237074 4358 6093 0000 sts hoehenregler.3078,r227075 435c 00C0 rjmp .L9927076 .L659:7077 435e 1092 0000 sts MotorenEin,__zero_reg__7078 4362 0C94 0000 jmp .L6617079 .L1060:7080 4366 6D5F subi r22,lo8(-(3))7081 4368 7F4F sbci r23,hi8(-(3))7082 436a 0C94 0000 jmp .L9047083 .L1100:7084 436e 6F5F subi r22,lo8(-(1))7085 4370 7F4F sbci r23,hi8(-(1))7086 4372 00C0 rjmp .L10137087 .L1099:7088 4374 6627 clr r227089 4376 7727 clr r237090 4378 6A19 sub r22,r107091 437a 7B09 sbc r23,r117092 437c 00C0 rjmp .L10127093 .L1102:7094 437e 0396 adiw r24,37095 4380 00C0 rjmp .L10307096 .L1101:7097 4382 0396 adiw r24,37098 4384 00C0 rjmp .L10257099 .L1104:7100 4386 0396 adiw r24,37101 4388 00C0 rjmp .L10407102 .L1103:7103 438a 0396 adiw r24,37104 438c 00C0 rjmp .L10357105 .L790:7106 438e 1092 0000 sts Looping_Nick,__zero_reg__7107 4392 0C94 0000 jmp .L7277108 .L786:7109 4396 1092 0000 sts Looping_Roll,__zero_reg__7110 439a 00C0 rjmp .L7877111 .L1092:7112 439c 81E0 ldi r24,lo8(1)7113 439e 8093 0000 sts Looping_Unten,r247114 43a2 00C0 rjmp .L7817115 .L1090:7116 43a4 A1E0 ldi r26,lo8(1)7117 43a6 A093 0000 sts Looping_Oben,r267118 43aa 00C0 rjmp .L7757119 .L1088:7120 43ac 81E0 ldi r24,lo8(1)7121 43ae 8093 0000 sts Looping_Rechts,r247122 43b2 00C0 rjmp .L7697123 .L1087:7124 43b4 81E0 ldi r24,lo8(1)7125 43b6 8093 0000 sts Looping_Links,r247126 43ba 00C0 rjmp .L7647127 .L1086:7128 43bc 84E6 ldi r24,lo8(100)7129 43be 90E0 ldi r25,hi8(100)7130 43c0 9093 0000 sts (MaxStickRoll)+1,r257131 43c4 8093 0000 sts MaxStickRoll,r247132 43c8 00C0 rjmp .L7577133 .L1081:7134 43ca 84E6 ldi r24,lo8(100)7135 43cc 90E0 ldi r25,hi8(100)7136 43ce 9093 0000 sts (MaxStickNick)+1,r257137 43d2 8093 0000 sts MaxStickNick,r247138 43d6 0C94 0000 jmp .L7497139 .L1075:7140 43da 8091 0000 lds r24,ExternControl+37141 43de 9927 clr r257142 43e0 87FD sbrc r24,77143 43e2 9095 com r257144 43e4 AC01 movw r20,r247145 43e6 489D mul r20,r87146 43e8 C001 movw r24,r07147 43ea 499D mul r20,r97148 43ec 900D add r25,r07149 43ee 589D mul r21,r87150 43f0 900D add r25,r07151 43f2 1124 clr r17152 43f4 C80E add r12,r247153 43f6 D91E adc r13,r257154 43f8 D092 0000 sts (StickNick)+1,r137155 43fc C092 0000 sts StickNick,r127156 4400 8091 0000 lds r24,ExternControl+47157 4404 9927 clr r257158 4406 87FD sbrc r24,77159 4408 9095 com r257160 440a BC01 movw r22,r247161 440c 689D mul r22,r87162 440e C001 movw r24,r07163 4410 699D mul r22,r97164 4412 900D add r25,r07165 4414 789D mul r23,r87166 4416 900D add r25,r07167 4418 1124 clr r17168 441a 080F add r16,r247169 441c 191F adc r17,r257170 441e 1093 0000 sts (StickRoll)+1,r177171 4422 0093 0000 sts StickRoll,r167172 4426 2091 0000 lds r18,ExternControl+57173 442a 3327 clr r197174 442c 27FD sbrc r18,77175 442e 3095 com r197176 4430 8091 0000 lds r24,StickGier7177 4434 9091 0000 lds r25,(StickGier)+17178 4438 820F add r24,r187179 443a 931F adc r25,r197180 443c 9093 0000 sts (StickGier)+1,r257181 4440 8093 0000 sts StickGier,r247182 4444 2091 0000 lds r18,EE_Parameter+137183 4448 30E0 ldi r19,lo8(0)7184 444a 8091 0000 lds r24,ExternControl+77185 444e 9927 clr r257186 4450 87FD sbrc r24,77187 4452 9095 com r257188 4454 DC01 movw r26,r247189 4456 2A9F mul r18,r267190 4458 C001 movw r24,r07191 445a 2B9F mul r18,r277192 445c 900D add r25,r07193 445e 3A9F mul r19,r267194 4460 900D add r25,r07195 4462 1124 clr r17196 4464 9093 0000 sts (ExternHoehenValue)+1,r257197 4468 8093 0000 sts ExternHoehenValue,r247198 446c 8091 0000 lds r24,ExternControl+67199 4470 90E0 ldi r25,lo8(0)7200 4472 8615 cp r24,r67201 4474 9705 cpc r25,r77202 4476 04F0 brlt .+47203 4478 0C94 0000 jmp .L7357204 447c 9093 0000 sts (StickGas)+1,r257205 4480 8093 0000 sts StickGas,r247206 4484 0C94 0000 jmp .L7357207 .L733:7208 4488 1092 0000 sts (StickGier)+1,__zero_reg__7209 448c 1092 0000 sts StickGier,__zero_reg__7210 4490 0C94 0000 jmp .L7327211 .L1058:7212 4494 F091 0000 lds r31,TrichterFlug7213 4498 FEA3 std Y+38,r317214 449a FF23 tst r317215 449c 01F0 breq .+47216 449e 0C94 0000 jmp .L8317217 44a2 2091 0000 lds r18,EE_Parameter+487218 44a6 2C8F std Y+28,r187219 44a8 2223 tst r187220 44aa 01F4 brne .+47221 44ac 0C94 0000 jmp .L8317222 44b0 4091 0000 lds r20,MittelIntegralNick7223 44b4 5091 0000 lds r21,(MittelIntegralNick)+17224 44b8 6091 0000 lds r22,(MittelIntegralNick)+27225 44bc 7091 0000 lds r23,(MittelIntegralNick)+37226 44c0 CB01 movw r24,r227227 44c2 BA01 movw r22,r207228 44c4 20E0 ldi r18,lo8(256)7229 44c6 31E0 ldi r19,hi8(256)7230 44c8 40E0 ldi r20,hlo8(256)7231 44ca 50E0 ldi r21,hhi8(256)7232 44cc 0E94 0000 call __divmodsi47233 44d0 28A7 std Y+40,r187234 44d2 39A7 std Y+41,r197235 44d4 4AA7 std Y+42,r207236 44d6 5BA7 std Y+43,r217237 44d8 2093 0000 sts MittelIntegralNick,r187238 44dc 3093 0000 sts (MittelIntegralNick)+1,r197239 44e0 4093 0000 sts (MittelIntegralNick)+2,r207240 44e4 5093 0000 sts (MittelIntegralNick)+3,r217241 44e8 2090 0000 lds r2,MittelIntegralRoll7242 44ec 3090 0000 lds r3,(MittelIntegralRoll)+17243 44f0 4090 0000 lds r4,(MittelIntegralRoll)+27244 44f4 5090 0000 lds r5,(MittelIntegralRoll)+37245 44f8 C201 movw r24,r47246 44fa B101 movw r22,r27247 44fc 20E0 ldi r18,lo8(256)7248 44fe 31E0 ldi r19,hi8(256)7249 4500 40E0 ldi r20,hlo8(256)7250 4502 50E0 ldi r21,hhi8(256)7251 4504 0E94 0000 call __divmodsi47252 4508 1901 movw r2,r187253 450a 2A01 movw r4,r207254 450c 2093 0000 sts MittelIntegralRoll,r187255 4510 3093 0000 sts (MittelIntegralRoll)+1,r197256 4514 4093 0000 sts (MittelIntegralRoll)+2,r207257 4518 5093 0000 sts (MittelIntegralRoll)+3,r217258 451c E090 0000 lds r14,EE_Parameter+207259 4520 FF24 clr r157260 4522 00E0 ldi r16,lo8(0)7261 4524 10E0 ldi r17,hi8(0)7262 4526 2091 0000 lds r18,IntegralAccNick7263 452a 3091 0000 lds r19,(IntegralAccNick)+17264 452e 4091 0000 lds r20,(IntegralAccNick)+27265 4532 5091 0000 lds r21,(IntegralAccNick)+37266 4536 C801 movw r24,r167267 4538 B701 movw r22,r147268 453a 0E94 0000 call __mulsi37269 453e 20E0 ldi r18,lo8(256)7270 4540 31E0 ldi r19,hi8(256)7271 4542 40E0 ldi r20,hlo8(256)7272 4544 50E0 ldi r21,hhi8(256)7273 4546 0E94 0000 call __divmodsi47274 454a 5901 movw r10,r187275 454c 6A01 movw r12,r207276 454e 2093 0000 sts IntegralAccNick,r187277 4552 3093 0000 sts (IntegralAccNick)+1,r197278 4556 4093 0000 sts (IntegralAccNick)+2,r207279 455a 5093 0000 sts (IntegralAccNick)+3,r217280 455e 2091 0000 lds r18,IntegralAccRoll7281 4562 3091 0000 lds r19,(IntegralAccRoll)+17282 4566 4091 0000 lds r20,(IntegralAccRoll)+27283 456a 5091 0000 lds r21,(IntegralAccRoll)+37284 456e C801 movw r24,r167285 4570 B701 movw r22,r147286 4572 0E94 0000 call __mulsi37287 4576 20E0 ldi r18,lo8(256)7288 4578 31E0 ldi r19,hi8(256)7289 457a 40E0 ldi r20,hlo8(256)7290 457c 50E0 ldi r21,hhi8(256)7291 457e 0E94 0000 call __divmodsi47292 4582 3901 movw r6,r187293 4584 4A01 movw r8,r207294 4586 2093 0000 sts IntegralAccRoll,r187295 458a 3093 0000 sts (IntegralAccRoll)+1,r197296 458e 4093 0000 sts (IntegralAccRoll)+2,r207297 4592 5093 0000 sts (IntegralAccRoll)+3,r217298 4596 6091 0000 lds r22,IntegralAccZ7299 459a 7091 0000 lds r23,(IntegralAccZ)+17300 459e 8091 0000 lds r24,(IntegralAccZ)+27301 45a2 9091 0000 lds r25,(IntegralAccZ)+37302 45a6 20E0 ldi r18,lo8(256)7303 45a8 31E0 ldi r19,hi8(256)7304 45aa 40E0 ldi r20,hlo8(256)7305 45ac 50E0 ldi r21,hhi8(256)7306 45ae 0E94 0000 call __divmodsi47307 45b2 2093 0000 sts IntegralAccZ,r187308 45b6 3093 0000 sts (IntegralAccZ)+1,r197309 45ba 4093 0000 sts (IntegralAccZ)+2,r207310 45be 5093 0000 sts (IntegralAccZ)+3,r217311 45c2 E090 0000 lds r14,EE_Parameter+477312 45c6 FF24 clr r157313 45c8 00E0 ldi r16,lo8(0)7314 45ca 10E0 ldi r17,hi8(0)7315 45cc 68A5 ldd r22,Y+407316 45ce 79A5 ldd r23,Y+417317 45d0 8AA5 ldd r24,Y+427318 45d2 9BA5 ldd r25,Y+437319 45d4 6A19 sub r22,r107320 45d6 7B09 sbc r23,r117321 45d8 8C09 sbc r24,r127322 45da 9D09 sbc r25,r137323 45dc A801 movw r20,r167324 45de 9701 movw r18,r147325 45e0 0E94 0000 call __divmodsi47326 45e4 2093 0000 sts ausgleichNick.3089,r187327 45e8 3093 0000 sts (ausgleichNick.3089)+1,r197328 45ec 4093 0000 sts (ausgleichNick.3089)+2,r207329 45f0 5093 0000 sts (ausgleichNick.3089)+3,r217330 45f4 CA01 movw r24,r207331 45f6 B901 movw r22,r187332 45f8 20E0 ldi r18,lo8(256)7333 45fa 31E0 ldi r19,hi8(256)7334 45fc 40E0 ldi r20,hlo8(256)7335 45fe 50E0 ldi r21,hhi8(256)7336 4600 0E94 0000 call __divmodsi47337 4604 6901 movw r12,r187338 4606 3093 0000 sts (LageKorrekturNick)+1,r197339 460a 2093 0000 sts LageKorrekturNick,r187340 460e C201 movw r24,r47341 4610 B101 movw r22,r27342 4612 6619 sub r22,r67343 4614 7709 sbc r23,r77344 4616 8809 sbc r24,r87345 4618 9909 sbc r25,r97346 461a A801 movw r20,r167347 461c 9701 movw r18,r147348 461e 0E94 0000 call __divmodsi47349 4622 CA01 movw r24,r207350 4624 B901 movw r22,r187351 4626 20E0 ldi r18,lo8(256)7352 4628 31E0 ldi r19,hi8(256)7353 462a 40E0 ldi r20,hlo8(256)7354 462c 50E0 ldi r21,hhi8(256)7355 462e 0E94 0000 call __divmodsi47356 4632 B901 movw r22,r187357 4634 3093 0000 sts (LageKorrekturRoll)+1,r197358 4638 2093 0000 sts LageKorrekturRoll,r187359 463c 8091 0000 lds r24,MaxStickNick7360 4640 9091 0000 lds r25,(MaxStickNick)+17361 4644 8134 cpi r24,657362 4646 9105 cpc r25,__zero_reg__7363 4648 04F4 brge .L8367364 464a 8091 0000 lds r24,MaxStickRoll7365 464e 9091 0000 lds r25,(MaxStickRoll)+17366 4652 8134 cpi r24,657367 4654 9105 cpc r25,__zero_reg__7368 4656 04F4 brge .L8367369 4658 E091 0000 lds r30,EE_Parameter+37370 465c F0E0 ldi r31,lo8(0)7371 465e EE0F lsl r307372 4660 FF1F rol r317373 4662 E050 subi r30,lo8(-(PPM_in))7374 4664 F040 sbci r31,hi8(-(PPM_in))7375 4666 0190 ld __tmp_reg__,Z+7376 4668 F081 ld r31,Z7377 466a E02D mov r30,__tmp_reg__7378 466c F7FD sbrc r31,77379 466e 00C0 rjmp .L11127380 .L840:7381 4670 7A97 sbiw r30,267382 4672 04F0 brlt .L8397383 .L836:7384 4674 8091 0000 lds r24,FromNaviCtrl_Value7385 4678 8F3F cpi r24,lo8(-1)7386 467a 01F4 brne .+27387 467c 00C0 rjmp .L11137388 .L839:7389 467e 6091 0000 lds r22,MittelIntegralNick27390 4682 7091 0000 lds r23,(MittelIntegralNick2)+17391 4686 8091 0000 lds r24,(MittelIntegralNick2)+27392 468a 9091 0000 lds r25,(MittelIntegralNick2)+37393 468e 20E0 ldi r18,lo8(256)7394 4690 31E0 ldi r19,hi8(256)7395 4692 40E0 ldi r20,hlo8(256)7396 4694 50E0 ldi r21,hhi8(256)7397 4696 0E94 0000 call __divmodsi47398 469a 2093 0000 sts MittelIntegralNick2,r187399 469e 3093 0000 sts (MittelIntegralNick2)+1,r197400 46a2 4093 0000 sts (MittelIntegralNick2)+2,r207401 46a6 5093 0000 sts (MittelIntegralNick2)+3,r217402 46aa 6091 0000 lds r22,MittelIntegralRoll27403 46ae 7091 0000 lds r23,(MittelIntegralRoll2)+17404 46b2 8091 0000 lds r24,(MittelIntegralRoll2)+27405 46b6 9091 0000 lds r25,(MittelIntegralRoll2)+37406 46ba 20E0 ldi r18,lo8(256)7407 46bc 31E0 ldi r19,hi8(256)7408 46be 40E0 ldi r20,hlo8(256)7409 46c0 50E0 ldi r21,hhi8(256)7410 46c2 0E94 0000 call __divmodsi47411 46c6 2093 0000 sts MittelIntegralRoll2,r187412 46ca 3093 0000 sts (MittelIntegralRoll2)+1,r197413 46ce 4093 0000 sts (MittelIntegralRoll2)+2,r207414 46d2 5093 0000 sts (MittelIntegralRoll2)+3,r217415 46d6 E9A0 ldd r14,Y+337416 46d8 FAA0 ldd r15,Y+347417 46da 0BA1 ldd r16,Y+357418 46dc 1CA1 ldd r17,Y+367419 46de 6981 ldd r22,Y+17420 46e0 7A81 ldd r23,Y+27421 46e2 8B81 ldd r24,Y+37422 46e4 9C81 ldd r25,Y+47423 46e6 E61A sub r14,r227424 46e8 F70A sbc r15,r237425 46ea 080B sbc r16,r247426 46ec 190B sbc r17,r257427 46ee E092 0000 sts tmp_long.3070,r147428 46f2 F092 0000 sts (tmp_long.3070)+1,r157429 46f6 0093 0000 sts (tmp_long.3070)+2,r167430 46fa 1093 0000 sts (tmp_long.3070)+3,r177431 46fe AD8C ldd r10,Y+297432 4700 BE8C ldd r11,Y+307433 4702 CF8C ldd r12,Y+317434 4704 D8A0 ldd r13,Y+327435 4706 8D81 ldd r24,Y+57436 4708 9E81 ldd r25,Y+67437 470a AF81 ldd r26,Y+77438 470c B885 ldd r27,Y+87439 470e A81A sub r10,r247440 4710 B90A sbc r11,r257441 4712 CA0A sbc r12,r267442 4714 DB0A sbc r13,r277443 4716 A092 0000 sts tmp_long2.3071,r107444 471a B092 0000 sts (tmp_long2.3071)+1,r117445 471e C092 0000 sts (tmp_long2.3071)+2,r127446 4722 D092 0000 sts (tmp_long2.3071)+3,r137447 4726 E092 0000 sts IntegralFehlerNick.3072,r147448 472a F092 0000 sts (IntegralFehlerNick.3072)+1,r157449 472e 0093 0000 sts (IntegralFehlerNick.3072)+2,r167450 4732 1093 0000 sts (IntegralFehlerNick.3072)+3,r177451 4736 A092 0000 sts IntegralFehlerRoll.3073,r107452 473a B092 0000 sts (IntegralFehlerRoll.3073)+1,r117453 473e C092 0000 sts (IntegralFehlerRoll.3073)+2,r127454 4742 D092 0000 sts (IntegralFehlerRoll.3073)+3,r137455 4746 8091 0000 lds r24,Mess_IntegralNick27456 474a 9091 0000 lds r25,(Mess_IntegralNick2)+17457 474e A091 0000 lds r26,(Mess_IntegralNick2)+27458 4752 B091 0000 lds r27,(Mess_IntegralNick2)+37459 4756 8E19 sub r24,r147460 4758 9F09 sbc r25,r157461 475a A00B sbc r26,r167462 475c B10B sbc r27,r177463 475e 8093 0000 sts Mess_IntegralNick2,r247464 4762 9093 0000 sts (Mess_IntegralNick2)+1,r257465 4766 A093 0000 sts (Mess_IntegralNick2)+2,r267466 476a B093 0000 sts (Mess_IntegralNick2)+3,r277467 476e 8091 0000 lds r24,Mess_IntegralRoll27468 4772 9091 0000 lds r25,(Mess_IntegralRoll2)+17469 4776 A091 0000 lds r26,(Mess_IntegralRoll2)+27470 477a B091 0000 lds r27,(Mess_IntegralRoll2)+37471 477e 8A19 sub r24,r107472 4780 9B09 sbc r25,r117473 4782 AC09 sbc r26,r127474 4784 BD09 sbc r27,r137475 4786 8093 0000 sts Mess_IntegralRoll2,r247476 478a 9093 0000 sts (Mess_IntegralRoll2)+1,r257477 478e A093 0000 sts (Mess_IntegralRoll2)+2,r267478 4792 B093 0000 sts (Mess_IntegralRoll2)+3,r277479 4796 2091 0000 lds r18,GierGyroFehler7480 479a 3091 0000 lds r19,(GierGyroFehler)+17481 479e 2138 cpi r18,1297482 47a0 3105 cpc r19,__zero_reg__7483 47a2 04F0 brlt .L8447484 47a4 8091 0000 lds r24,AdNeutralGier7485 47a8 9091 0000 lds r25,(AdNeutralGier)+17486 47ac 0196 adiw r24,17487 47ae 9093 0000 sts (AdNeutralGier)+1,r257488 47b2 8093 0000 sts AdNeutralGier,r247489 47b6 8091 0000 lds r24,AdNeutralGierBias7490 47ba 9091 0000 lds r25,(AdNeutralGierBias)+17491 47be 0196 adiw r24,17492 47c0 9093 0000 sts (AdNeutralGierBias)+1,r257493 47c4 8093 0000 sts AdNeutralGierBias,r247494 .L844:7495 47c8 2058 subi r18,lo8(-128)7496 47ca 3F4F sbci r19,hi8(-128)7497 47cc 04F4 brge .L8467498 47ce 8091 0000 lds r24,AdNeutralGier7499 47d2 9091 0000 lds r25,(AdNeutralGier)+17500 47d6 0197 sbiw r24,17501 47d8 9093 0000 sts (AdNeutralGier)+1,r257502 47dc 8093 0000 sts AdNeutralGier,r247503 47e0 8091 0000 lds r24,AdNeutralGierBias7504 47e4 9091 0000 lds r25,(AdNeutralGierBias)+17505 47e8 0197 sbiw r24,17506 47ea 9093 0000 sts (AdNeutralGierBias)+1,r257507 47ee 8093 0000 sts AdNeutralGierBias,r247508 .L846:7509 47f2 1092 0000 sts (GierGyroFehler)+1,__zero_reg__7510 47f6 1092 0000 sts GierGyroFehler,__zero_reg__7511 47fa 81E0 ldi r24,lo8(1)7512 47fc 90E0 ldi r25,hi8(1)7513 47fe 9093 0000 sts (cnt.3099)+1,r257514 4802 8093 0000 sts cnt.3099,r247515 4806 8091 0000 lds r24,MittelIntegralNick_Alt.31047516 480a 9091 0000 lds r25,(MittelIntegralNick_Alt.3104)+17517 480e A091 0000 lds r26,(MittelIntegralNick_Alt.3104)+27518 4812 B091 0000 lds r27,(MittelIntegralNick_Alt.3104)+37519 4816 28A5 ldd r18,Y+407520 4818 39A5 ldd r19,Y+417521 481a 4AA5 ldd r20,Y+427522 481c 5BA5 ldd r21,Y+437523 481e 821B sub r24,r187524 4820 930B sbc r25,r197525 4822 A40B sbc r26,r207526 4824 B50B sbc r27,r217527 4826 815E subi r24,lo8(-(19999))7528 4828 914B sbci r25,hi8(-(19999))7529 482a AF4F sbci r26,hlo8(-(19999))7530 482c BF4F sbci r27,hhi8(-(19999))7531 482e 8F53 subi r24,lo8(39999)7532 4830 9C49 sbci r25,hi8(39999)7533 4832 A040 sbci r26,hlo8(39999)7534 4834 B040 sbci r27,hhi8(39999)7535 4836 00F4 brsh .+27536 4838 00C0 rjmp .L10477537 483a 9090 0000 lds r9,FromNaviCtrl_Value+17538 483e 48E1 ldi r20,lo8(24)7539 4840 4915 cp r20,r97540 4842 04F4 brge .+27541 4844 00C0 rjmp .L8487542 4846 1092 0000 sts (cnt.3099)+1,__zero_reg__7543 484a 1092 0000 sts cnt.3099,__zero_reg__7544 484e 88EE ldi r24,lo8(1000)7545 4850 93E0 ldi r25,hi8(1000)7546 4852 9093 0000 sts (KompassSignalSchlecht)+1,r257547 4856 8093 0000 sts KompassSignalSchlecht,r247548 .L863:7549 485a 9C8D ldd r25,Y+287550 485c 692E mov r6,r257551 485e 7724 clr r77552 4860 8091 0000 lds r24,cnt.30997553 4864 9091 0000 lds r25,(cnt.3099)+17554 4868 6816 cp r6,r247555 486a 7906 cpc r7,r257556 486c 04F4 brge .L8647557 486e 7092 0000 sts (cnt.3099)+1,r77558 4872 6092 0000 sts cnt.3099,r67559 .L864:7560 4876 9920 tst r97561 4878 01F0 breq .L8667562 487a 292D mov r18,r97563 487c 3327 clr r197564 487e 27FD sbrc r18,77565 4880 3095 com r197566 4882 8091 0000 lds r24,cnt.30997567 4886 9091 0000 lds r25,(cnt.3099)+17568 488a 2817 cp r18,r247569 488c 3907 cpc r19,r257570 488e 04F4 brge .L8667571 4890 3093 0000 sts (cnt.3099)+1,r197572 4894 2093 0000 sts cnt.3099,r187573 .L866:7574 4898 A1E0 ldi r26,lo8(1025)7575 489a EA16 cp r14,r267576 489c A4E0 ldi r26,hi8(1025)7577 489e FA06 cpc r15,r267578 48a0 A0E0 ldi r26,hlo8(1025)7579 48a2 0A07 cpc r16,r267580 48a4 A0E0 ldi r26,hhi8(1025)7581 48a6 1A07 cpc r17,r267582 48a8 04F0 brlt .L8697583 48aa 8091 0000 lds r24,AdNeutralNick7584 48ae 9091 0000 lds r25,(AdNeutralNick)+17585 48b2 2091 0000 lds r18,cnt.30997586 48b6 3091 0000 lds r19,(cnt.3099)+17587 48ba 820F add r24,r187588 48bc 931F adc r25,r197589 48be 9093 0000 sts (AdNeutralNick)+1,r257590 48c2 8093 0000 sts AdNeutralNick,r247591 .L869:7592 48c6 B0E0 ldi r27,lo8(-1024)7593 48c8 EB16 cp r14,r277594 48ca BCEF ldi r27,hi8(-1024)7595 48cc FB06 cpc r15,r277596 48ce BFEF ldi r27,hlo8(-1024)7597 48d0 0B07 cpc r16,r277598 48d2 BFEF ldi r27,hhi8(-1024)7599 48d4 1B07 cpc r17,r277600 48d6 04F4 brge .L8717601 48d8 8091 0000 lds r24,AdNeutralNick7602 48dc 9091 0000 lds r25,(AdNeutralNick)+17603 48e0 2091 0000 lds r18,cnt.30997604 48e4 3091 0000 lds r19,(cnt.3099)+17605 48e8 821B sub r24,r187606 48ea 930B sbc r25,r197607 48ec 9093 0000 sts (AdNeutralNick)+1,r257608 48f0 8093 0000 sts AdNeutralNick,r247609 .L871:7610 48f4 81E0 ldi r24,lo8(1)7611 48f6 90E0 ldi r25,hi8(1)7612 48f8 9093 0000 sts (cnt.3099)+1,r257613 48fc 8093 0000 sts cnt.3099,r247614 4900 1092 0000 sts ausgleichRoll.3090,__zero_reg__7615 4904 1092 0000 sts (ausgleichRoll.3090)+1,__zero_reg__7616 4908 1092 0000 sts (ausgleichRoll.3090)+2,__zero_reg__7617 490c 1092 0000 sts (ausgleichRoll.3090)+3,__zero_reg__7618 4910 8091 0000 lds r24,MittelIntegralRoll_Alt.31057619 4914 9091 0000 lds r25,(MittelIntegralRoll_Alt.3105)+17620 4918 A091 0000 lds r26,(MittelIntegralRoll_Alt.3105)+27621 491c B091 0000 lds r27,(MittelIntegralRoll_Alt.3105)+37622 4920 8219 sub r24,r27623 4922 9309 sbc r25,r37624 4924 A409 sbc r26,r47625 4926 B509 sbc r27,r57626 4928 815E subi r24,lo8(-(19999))7627 492a 914B sbci r25,hi8(-(19999))7628 492c AF4F sbci r26,hlo8(-(19999))7629 492e BF4F sbci r27,hhi8(-(19999))7630 4930 8F53 subi r24,lo8(39999)7631 4932 9C49 sbci r25,hi8(39999)7632 4934 A040 sbci r26,hlo8(39999)7633 4936 B040 sbci r27,hhi8(39999)7634 4938 00F4 brsh .+27635 493a 00C0 rjmp .L8737636 493c F8E1 ldi r31,lo8(24)7637 493e F915 cp r31,r97638 4940 04F4 brge .+27639 4942 00C0 rjmp .L8737640 4944 1092 0000 sts (cnt.3099)+1,__zero_reg__7641 4948 1092 0000 sts cnt.3099,__zero_reg__7642 494c 88EE ldi r24,lo8(1000)7643 494e 93E0 ldi r25,hi8(1000)7644 4950 9093 0000 sts (KompassSignalSchlecht)+1,r257645 4954 8093 0000 sts KompassSignalSchlecht,r247646 .L888:7647 4958 8091 0000 lds r24,cnt.30997648 495c 9091 0000 lds r25,(cnt.3099)+17649 4960 6816 cp r6,r247650 4962 7906 cpc r7,r257651 4964 04F4 brge .L8897652 4966 7092 0000 sts (cnt.3099)+1,r77653 496a 6092 0000 sts cnt.3099,r67654 .L889:7655 496e 9920 tst r97656 4970 01F0 breq .L8917657 4972 292D mov r18,r97658 4974 3327 clr r197659 4976 27FD sbrc r18,77660 4978 3095 com r197661 497a 8091 0000 lds r24,cnt.30997662 497e 9091 0000 lds r25,(cnt.3099)+17663 4982 2817 cp r18,r247664 4984 3907 cpc r19,r257665 4986 04F4 brge .L8917666 4988 3093 0000 sts (cnt.3099)+1,r197667 498c 2093 0000 sts cnt.3099,r187668 .L891:7669 4990 71E0 ldi r23,lo8(1025)7670 4992 A716 cp r10,r237671 4994 74E0 ldi r23,hi8(1025)7672 4996 B706 cpc r11,r237673 4998 70E0 ldi r23,hlo8(1025)7674 499a C706 cpc r12,r237675 499c 70E0 ldi r23,hhi8(1025)7676 499e D706 cpc r13,r237677 49a0 04F0 brlt .L8947678 49a2 8091 0000 lds r24,AdNeutralRoll7679 49a6 9091 0000 lds r25,(AdNeutralRoll)+17680 49aa 2091 0000 lds r18,cnt.30997681 49ae 3091 0000 lds r19,(cnt.3099)+17682 49b2 820F add r24,r187683 49b4 931F adc r25,r197684 49b6 9093 0000 sts (AdNeutralRoll)+1,r257685 49ba 8093 0000 sts AdNeutralRoll,r247686 .L894:7687 49be 80E0 ldi r24,lo8(-1024)7688 49c0 A816 cp r10,r247689 49c2 8CEF ldi r24,hi8(-1024)7690 49c4 B806 cpc r11,r247691 49c6 8FEF ldi r24,hlo8(-1024)7692 49c8 C806 cpc r12,r247693 49ca 8FEF ldi r24,hhi8(-1024)7694 49cc D806 cpc r13,r247695 49ce 04F0 brlt .+47696 49d0 0C94 0000 jmp .L8967697 49d4 8091 0000 lds r24,AdNeutralRoll7698 49d8 9091 0000 lds r25,(AdNeutralRoll)+17699 49dc 2091 0000 lds r18,cnt.30997700 49e0 3091 0000 lds r19,(cnt.3099)+17701 49e4 821B sub r24,r187702 49e6 930B sbc r25,r197703 49e8 9093 0000 sts (AdNeutralRoll)+1,r257704 49ec 8093 0000 sts AdNeutralRoll,r247705 49f0 0C94 0000 jmp .L8967706 .L1098:7707 49f4 9701 movw r18,r147708 49f6 0C94 0000 jmp .L9977709 .L1063:7710 49fa 6801 movw r12,r167711 49fc 0C94 0000 jmp .L9147712 .L1065:7713 4a00 60E0 ldi r22,lo8(0)7714 4a02 70E0 ldi r23,hi8(0)7715 4a04 00E0 ldi r16,lo8(0)7716 4a06 10E0 ldi r17,hi8(0)7717 4a08 0C94 0000 jmp .L9187718 .L969:7719 4a0c 8091 0000 lds r24,Parameter_MaxHoehe7720 4a10 8233 cpi r24,lo8(50)7721 4a12 00F4 brsh .+47722 4a14 0C94 0000 jmp .L9717723 .L972:7724 4a18 81E0 ldi r24,lo8(1)7725 4a1a 8093 0000 sts HoehenReglerAktiv,r247726 4a1e 88EC ldi r24,lo8(-56)7727 4a20 8093 0000 sts delay.3112,r247728 4a24 2091 0000 lds r18,HoehenWert7729 4a28 3091 0000 lds r19,(HoehenWert)+17730 4a2c 00C0 rjmp .L9737731 .L1073:7732 4a2e 4D5F subi r20,lo8(-(3))7733 4a30 5F4F sbci r21,hi8(-(3))7734 4a32 0C94 0000 jmp .L7287735 .L1074:7736 4a36 4D5F subi r20,lo8(-(3))7737 4a38 5F4F sbci r21,hi8(-(3))7738 4a3a 0C94 0000 jmp .L7297739 .L1070:7740 4a3e 1092 0000 sts SummeNick.3067,__zero_reg__7741 4a42 1092 0000 sts (SummeNick.3067)+1,__zero_reg__7742 4a46 1092 0000 sts (SummeNick.3067)+2,__zero_reg__7743 4a4a 1092 0000 sts (SummeNick.3067)+3,__zero_reg__7744 4a4e 1092 0000 sts SummeRoll.3068,__zero_reg__7745 4a52 1092 0000 sts (SummeRoll.3068)+1,__zero_reg__7746 4a56 1092 0000 sts (SummeRoll.3068)+2,__zero_reg__7747 4a5a 1092 0000 sts (SummeRoll.3068)+3,__zero_reg__7748 4a5e 8A3F cpi r24,2507749 4a60 9105 cpc r25,__zero_reg__7750 4a62 01F0 breq .+47751 4a64 0C94 0000 jmp .L6697752 4a68 81E0 ldi r24,lo8(1)7753 4a6a 8093 0000 sts NeueKompassRichtungMerken.3088,r247754 4a6e 1092 0000 sts sollGier.3069,__zero_reg__7755 4a72 1092 0000 sts (sollGier.3069)+1,__zero_reg__7756 4a76 1092 0000 sts (sollGier.3069)+2,__zero_reg__7757 4a7a 1092 0000 sts (sollGier.3069)+3,__zero_reg__7758 4a7e 1092 0000 sts Mess_Integral_Gier,__zero_reg__7759 4a82 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__7760 4a86 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__7761 4a8a 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__7762 4a8e 0C94 0000 jmp .L6697763 .L1091:7764 4a92 A0E0 ldi r26,lo8(0)7765 4a94 1092 0000 sts Looping_Oben,__zero_reg__7766 4a98 0C94 0000 jmp .L7757767 .L1093:7768 4a9c 1092 0000 sts Looping_Unten,__zero_reg__7769 4aa0 0C94 0000 jmp .L7817770 .L1089:7771 4aa4 1092 0000 sts Looping_Rechts,__zero_reg__7772 4aa8 0C94 0000 jmp .L7697773 .L1055:7774 4aac 88E9 ldi r24,lo8(15000)7775 4aae 9AE3 ldi r25,hi8(15000)7776 4ab0 9093 0000 sts (beeptime)+1,r257777 4ab4 8093 0000 sts beeptime,r247778 4ab8 80E0 ldi r24,lo8(3072)7779 4aba 9CE0 ldi r25,hi8(3072)7780 4abc 9093 0000 sts (BeepMuster)+1,r257781 4ac0 8093 0000 sts BeepMuster,r247782 4ac4 0C94 0000 jmp .L6497783 .L1062:7784 4ac8 D094 com r137785 4aca C194 neg r127786 4acc D108 sbc r13,__zero_reg__7787 4ace D394 inc r137788 4ad0 0C94 0000 jmp .L9137789 .L1061:7790 4ad4 1095 com r177791 4ad6 0195 neg r167792 4ad8 1F4F sbci r17,lo8(-1)7793 4ada 0C94 0000 jmp .L9127794 .L1064:7795 4ade 8827 clr r247796 4ae0 9927 clr r257797 4ae2 8819 sub r24,r87798 4ae4 9909 sbc r25,r97799 4ae6 0C94 0000 jmp .L9167800 .L1097:7801 4aea 3196 adiw r30,17802 4aec 0C94 0000 jmp .L9997803 .L805:7804 4af0 C401 movw r24,r87805 4af2 B301 movw r22,r67806 4af4 22E0 ldi r18,lo8(2)7807 4af6 30E0 ldi r19,hi8(2)7808 4af8 40E0 ldi r20,hlo8(2)7809 4afa 50E0 ldi r21,hhi8(2)7810 4afc 0E94 0000 call __divmodsi47811 4b00 3901 movw r6,r187812 4b02 4A01 movw r8,r207813 4b04 C601 movw r24,r127814 4b06 B501 movw r22,r107815 4b08 22E0 ldi r18,lo8(2)7816 4b0a 30E0 ldi r19,hi8(2)7817 4b0c 40E0 ldi r20,hlo8(2)7818 4b0e 50E0 ldi r21,hhi8(2)7819 4b10 0E94 0000 call __divmodsi47820 4b14 5901 movw r10,r187821 4b16 6A01 movw r12,r207822 4b18 00C0 rjmp .L8077823 .L1076:7824 4b1a 1092 0000 sts (StickGas)+1,__zero_reg__7825 4b1e 1092 0000 sts StickGas,__zero_reg__7826 4b22 0C94 0000 jmp .L7397827 .L1078:7828 4b26 9095 com r257829 4b28 8195 neg r247830 4b2a 9F4F sbci r25,lo8(-1)7831 4b2c 0C94 0000 jmp .L7457832 .L1077:7833 4b30 0396 adiw r24,37834 4b32 0C94 0000 jmp .L7447835 .L1082:7836 4b36 0396 adiw r24,37837 4b38 9595 asr r257838 4b3a 8795 ror r247839 4b3c 9595 asr r257840 4b3e 8795 ror r247841 4b40 97FD sbrc r25,77842 4b42 00C0 rjmp .+47843 4b44 0C94 0000 jmp .L7537844 .L1083:7845 4b48 9095 com r257846 4b4a 8195 neg r247847 4b4c 9F4F sbci r25,lo8(-1)7848 4b4e 0C94 0000 jmp .L7537849 .L927:7850 4b52 0894 sec7851 4b54 E108 sbc r14,__zero_reg__7852 4b56 F108 sbc r15,__zero_reg__7853 4b58 F092 0000 sts (KompassSignalSchlecht)+1,r157854 4b5c E092 0000 sts KompassSignalSchlecht,r147855 4b60 0C94 0000 jmp .L9097856 .L1056:7857 4b64 4B2F mov r20,r277858 4b66 50E0 ldi r21,lo8(0)7859 4b68 5B87 std Y+11,r217860 4b6a 4A87 std Y+10,r207861 4b6c 8091 0000 lds r24,Looping_Nick7862 4b70 8823 tst r247863 4b72 01F4 brne .+47864 4b74 0C94 0000 jmp .L7937865 4b78 0C94 0000 jmp .L7917866 .L718:7867 4b7c 1092 0000 sts delay_einschalten.3076,__zero_reg__7868 4b80 0C94 0000 jmp .L7207869 .L722:7870 4b84 1092 0000 sts delay_ausschalten.3077,__zero_reg__7871 4b88 0C94 0000 jmp .L6617872 .L1108:7873 4b8c 0396 adiw r24,37874 4b8e 00C0 rjmp .L9367875 .L1107:7876 4b90 0396 adiw r24,37877 4b92 00C0 rjmp .L9357878 .L1085:7879 4b94 0396 adiw r24,37880 4b96 0C94 0000 jmp .L7567881 .L1084:7882 4b9a 9095 com r257883 4b9c 8195 neg r247884 4b9e 9F4F sbci r25,lo8(-1)7885 4ba0 0C94 0000 jmp .L7557886 .L1080:7887 4ba4 0396 adiw r24,37888 4ba6 0C94 0000 jmp .L7487889 .L1079:7890 4baa 9095 com r257891 4bac 8195 neg r247892 4bae 9F4F sbci r25,lo8(-1)7893 4bb0 0C94 0000 jmp .L7477894 .L925:7895 4bb4 84EF ldi r24,lo8(500)7896 4bb6 91E0 ldi r25,hi8(500)7897 4bb8 9093 0000 sts (KompassSignalSchlecht)+1,r257898 4bbc 8093 0000 sts KompassSignalSchlecht,r247899 4bc0 0C94 0000 jmp .L9097900 .L1068:7901 4bc4 215E subi r18,lo8(-(31))7902 4bc6 3F4F sbci r19,hi8(-(31))7903 4bc8 0C94 0000 jmp .L9247904 .L1067:7905 4bcc 695F subi r22,lo8(-(7))7906 4bce 7F4F sbci r23,hi8(-(7))7907 4bd0 0C94 0000 jmp .L9237908 .L930:7909 4bd4 4427 clr r207910 4bd6 37FD sbrc r19,77911 4bd8 4095 com r207912 4bda 542F mov r21,r207913 4bdc 8091 0000 lds r24,Mess_Integral_Gier7914 4be0 9091 0000 lds r25,(Mess_Integral_Gier)+17915 4be4 A091 0000 lds r26,(Mess_Integral_Gier)+27916 4be8 B091 0000 lds r27,(Mess_Integral_Gier)+37917 4bec 820F add r24,r187918 4bee 931F adc r25,r197919 4bf0 A41F adc r26,r207920 4bf2 B51F adc r27,r217921 4bf4 8093 0000 sts Mess_Integral_Gier,r247922 4bf8 9093 0000 sts (Mess_Integral_Gier)+1,r257923 4bfc A093 0000 sts (Mess_Integral_Gier)+2,r267924 4c00 B093 0000 sts (Mess_Integral_Gier)+3,r277925 4c04 0C94 0000 jmp .L9097926 .L674:7927 4c08 8081 ld r24,Z7928 4c0a 9181 ldd r25,Z+17929 4c0c 855B subi r24,lo8(-75)7930 4c0e 9F4F sbci r25,hi8(-75)7931 4c10 04F0 brlt .+27932 4c12 00C0 rjmp .L7087933 4c14 8091 0000 lds r24,delay_neutral.30757934 4c18 8F5F subi r24,lo8(-(1))7935 4c1a 8093 0000 sts delay_neutral.3075,r247936 4c1e 893C cpi r24,lo8(-55)7937 4c20 00F4 brsh .+47938 4c22 0C94 0000 jmp .L6717939 4c26 4C30 cpi r20,lo8(12)7940 4c28 00F0 brlo .+27941 4c2a 00C0 rjmp .L7117942 4c2c 2998 cbi 37-0x20,17943 .L713:7944 4c2e 8FEF ldi r24,lo8(-1)7945 4c30 00E0 ldi r16,lo8(EEPromArray+4)7946 4c32 10E0 ldi r17,hi8(EEPromArray+4)7947 4c34 D801 movw r26,r167948 /* #APP */7949 4c36 082E mov __tmp_reg__,r247950 4c38 0E94 0000 call __eeprom_write_byte_1F20217951 /* #NOAPP */7952 4c3c 1092 0000 sts MotorenEin,__zero_reg__7953 4c40 1092 0000 sts delay_neutral.3075,__zero_reg__7954 4c44 1092 0000 sts (modell_fliegt)+1,__zero_reg__7955 4c48 1092 0000 sts modell_fliegt,__zero_reg__7956 4c4c 0E94 0000 call SetNeutral7957 4c50 8091 0000 lds r24,NeutralAccX7958 4c54 9091 0000 lds r25,(NeutralAccX)+17959 4c58 97FD sbrc r25,77960 4c5a 00C0 rjmp .L11147961 .L714:7962 4c5c 892F mov r24,r257963 4c5e 990F lsl r257964 4c60 990B sbc r25,r257965 4c62 D801 movw r26,r167966 /* #APP */7967 4c64 082E mov __tmp_reg__,r247968 4c66 0E94 0000 call __eeprom_write_byte_1F20217969 /* #NOAPP */7970 4c6a 8091 0000 lds r24,NeutralAccX7971 4c6e 9091 0000 lds r25,(NeutralAccX)+17972 4c72 60E0 ldi r22,lo8(256)7973 4c74 71E0 ldi r23,hi8(256)7974 4c76 0E94 0000 call __divmodhi47975 4c7a 0F5F subi r16,lo8(-(1))7976 4c7c 1F4F sbci r17,hi8(-(1))7977 4c7e D801 movw r26,r167978 /* #APP */7979 4c80 082E mov __tmp_reg__,r247980 4c82 0E94 0000 call __eeprom_write_byte_1F20217981 /* #NOAPP */7982 4c86 0150 subi r16,lo8(-(-1))7983 4c88 1040 sbci r17,hi8(-(-1))7984 4c8a 2091 0000 lds r18,NeutralAccY7985 4c8e 3091 0000 lds r19,(NeutralAccY)+17986 4c92 37FD sbrc r19,77987 4c94 00C0 rjmp .L11157988 .L715:7989 4c96 832F mov r24,r197990 4c98 9927 clr r257991 4c9a 87FD sbrc r24,77992 4c9c 9A95 dec r257993 4c9e 0E5F subi r16,lo8(-(2))7994 4ca0 1F4F sbci r17,hi8(-(2))7995 4ca2 D801 movw r26,r167996 /* #APP */7997 4ca4 082E mov __tmp_reg__,r247998 4ca6 0E94 0000 call __eeprom_write_byte_1F20217999 /* #NOAPP */8000 4caa 8091 0000 lds r24,NeutralAccY8001 4cae 9091 0000 lds r25,(NeutralAccY)+18002 4cb2 60E0 ldi r22,lo8(256)8003 4cb4 71E0 ldi r23,hi8(256)8004 4cb6 0E94 0000 call __divmodhi48005 4cba 0F5F subi r16,lo8(-(1))8006 4cbc 1F4F sbci r17,hi8(-(1))8007 4cbe D801 movw r26,r168008 /* #APP */8009 4cc0 082E mov __tmp_reg__,r248010 4cc2 0E94 0000 call __eeprom_write_byte_1F20218011 /* #NOAPP */8012 4cc6 0350 subi r16,lo8(-(-3))8013 4cc8 1040 sbci r17,hi8(-(-3))8014 4cca 6091 0000 lds r22,NeutralAccZ8015 4cce 7091 0000 lds r23,(NeutralAccZ)+18016 4cd2 8091 0000 lds r24,(NeutralAccZ)+28017 4cd6 9091 0000 lds r25,(NeutralAccZ)+38018 4cda 0E94 0000 call __fixsfsi8019 4cde 9B01 movw r18,r228020 4ce0 77FD sbrc r23,78021 4ce2 00C0 rjmp .L11168022 .L716:8023 4ce4 832F mov r24,r198024 4ce6 9927 clr r258025 4ce8 87FD sbrc r24,78026 4cea 9A95 dec r258027 4cec 0C5F subi r16,lo8(-(4))8028 4cee 1F4F sbci r17,hi8(-(4))8029 4cf0 D801 movw r26,r168030 /* #APP */8031 4cf2 082E mov __tmp_reg__,r248032 4cf4 0E94 0000 call __eeprom_write_byte_1F20218033 /* #NOAPP */8034 4cf8 6091 0000 lds r22,NeutralAccZ8035 4cfc 7091 0000 lds r23,(NeutralAccZ)+18036 4d00 8091 0000 lds r24,(NeutralAccZ)+28037 4d04 9091 0000 lds r25,(NeutralAccZ)+38038 4d08 0E94 0000 call __fixsfsi8039 4d0c DC01 movw r26,r248040 4d0e CB01 movw r24,r228041 4d10 60E0 ldi r22,lo8(256)8042 4d12 71E0 ldi r23,hi8(256)8043 4d14 0E94 0000 call __divmodhi48044 4d18 0F5F subi r16,lo8(-(1))8045 4d1a 1F4F sbci r17,hi8(-(1))8046 4d1c D801 movw r26,r168047 /* #APP */8048 4d1e 082E mov __tmp_reg__,r248049 4d20 0E94 0000 call __eeprom_write_byte_1F20218050 /* #NOAPP */8051 .L1053:8052 4d24 0E94 0000 call GetActiveParamSetNumber8053 4d28 0E94 0000 call Piep8054 4d2c 8091 0000 lds r24,EE_Parameter+28055 4d30 A82F mov r26,r248056 4d32 B0E0 ldi r27,lo8(0)8057 4d34 AA0F lsl r268058 4d36 BB1F rol r278059 4d38 0C94 0000 jmp .L6718060 .L1066:8061 4d3c 88EC ldi r24,lo8(200)8062 4d3e 90E0 ldi r25,hi8(200)8063 4d40 9093 0000 sts (beeptime)+1,r258064 4d44 8093 0000 sts beeptime,r248065 4d48 B101 movw r22,r28066 4d4a 8827 clr r248067 4d4c 77FD sbrc r23,78068 4d4e 8095 com r248069 4d50 982F mov r25,r248070 4d52 2C89 ldd r18,Y+208071 4d54 3D89 ldd r19,Y+218072 4d56 4E89 ldd r20,Y+228073 4d58 5F89 ldd r21,Y+238074 4d5a 0E94 0000 call __mulsi38075 4d5e 2B01 movw r4,r228076 4d60 3C01 movw r6,r248077 4d62 6093 0000 sts ErsatzKompass,r228078 4d66 7093 0000 sts (ErsatzKompass)+1,r238079 4d6a 8093 0000 sts (ErsatzKompass)+2,r248080 4d6e 9093 0000 sts (ErsatzKompass)+3,r258081 4d72 0E94 0000 call __divmodsi48082 4d76 3093 0000 sts (KompassStartwert)+1,r198083 4d7a 2093 0000 sts KompassStartwert,r188084 4d7e 1092 0000 sts NeueKompassRichtungMerken.3088,__zero_reg__8085 4d82 0C94 0000 jmp .L9198086 .L1072:8087 4d86 88EC ldi r24,lo8(-56)8088 4d88 8093 0000 sts delay_einschalten.3076,r248089 4d8c 81E0 ldi r24,lo8(1)8090 4d8e 90E0 ldi r25,hi8(1)8091 4d90 9093 0000 sts (modell_fliegt)+1,r258092 4d94 8093 0000 sts modell_fliegt,r248093 4d98 81E0 ldi r24,lo8(1)8094 4d9a 8093 0000 sts MotorenEin,r248095 4d9e 1092 0000 sts sollGier.3069,__zero_reg__8096 4da2 1092 0000 sts (sollGier.3069)+1,__zero_reg__8097 4da6 1092 0000 sts (sollGier.3069)+2,__zero_reg__8098 4daa 1092 0000 sts (sollGier.3069)+3,__zero_reg__8099 4dae 1092 0000 sts Mess_Integral_Gier,__zero_reg__8100 4db2 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__8101 4db6 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__8102 4dba 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__8103 4dbe 1092 0000 sts Mess_Integral_Gier2,__zero_reg__8104 4dc2 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__8105 4dc6 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__8106 4dca 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__8107 4dce E090 0000 lds r14,EE_Parameter+208108 4dd2 FF24 clr r158109 4dd4 00E0 ldi r16,lo8(0)8110 4dd6 10E0 ldi r17,hi8(0)8111 4dd8 6091 0000 lds r22,Mittelwert_AccNick8112 4ddc 7091 0000 lds r23,(Mittelwert_AccNick)+18113 4de0 8827 clr r248114 4de2 77FD sbrc r23,78115 4de4 8095 com r248116 4de6 982F mov r25,r248117 4de8 A801 movw r20,r168118 4dea 9701 movw r18,r148119 4dec 0E94 0000 call __mulsi38120 4df0 6093 0000 sts Mess_IntegralNick,r228121 4df4 7093 0000 sts (Mess_IntegralNick)+1,r238122 4df8 8093 0000 sts (Mess_IntegralNick)+2,r248123 4dfc 9093 0000 sts (Mess_IntegralNick)+3,r258124 4e00 6091 0000 lds r22,Mittelwert_AccRoll8125 4e04 7091 0000 lds r23,(Mittelwert_AccRoll)+18126 4e08 8827 clr r248127 4e0a 77FD sbrc r23,78128 4e0c 8095 com r248129 4e0e 982F mov r25,r248130 4e10 0E94 0000 call __mulsi38131 4e14 6093 0000 sts Mess_IntegralRoll,r228132 4e18 7093 0000 sts (Mess_IntegralRoll)+1,r238133 4e1c 8093 0000 sts (Mess_IntegralRoll)+2,r248134 4e20 9093 0000 sts (Mess_IntegralRoll)+3,r258135 4e24 8091 0000 lds r24,IntegralNick8136 4e28 9091 0000 lds r25,(IntegralNick)+18137 4e2c A091 0000 lds r26,(IntegralNick)+28138 4e30 B091 0000 lds r27,(IntegralNick)+38139 4e34 8093 0000 sts Mess_IntegralNick2,r248140 4e38 9093 0000 sts (Mess_IntegralNick2)+1,r258141 4e3c A093 0000 sts (Mess_IntegralNick2)+2,r268142 4e40 B093 0000 sts (Mess_IntegralNick2)+3,r278143 4e44 8091 0000 lds r24,IntegralRoll8144 4e48 9091 0000 lds r25,(IntegralRoll)+18145 4e4c A091 0000 lds r26,(IntegralRoll)+28146 4e50 B091 0000 lds r27,(IntegralRoll)+38147 4e54 8093 0000 sts Mess_IntegralRoll2,r248148 4e58 9093 0000 sts (Mess_IntegralRoll2)+1,r258149 4e5c A093 0000 sts (Mess_IntegralRoll2)+2,r268150 4e60 B093 0000 sts (Mess_IntegralRoll2)+3,r278151 4e64 1092 0000 sts SummeNick.3067,__zero_reg__8152 4e68 1092 0000 sts (SummeNick.3067)+1,__zero_reg__8153 4e6c 1092 0000 sts (SummeNick.3067)+2,__zero_reg__8154 4e70 1092 0000 sts (SummeNick.3067)+3,__zero_reg__8155 4e74 1092 0000 sts SummeRoll.3068,__zero_reg__8156 4e78 1092 0000 sts (SummeRoll.3068)+1,__zero_reg__8157 4e7c 1092 0000 sts (SummeRoll.3068)+2,__zero_reg__8158 4e80 1092 0000 sts (SummeRoll.3068)+3,__zero_reg__8159 4e84 8091 0000 lds r24,MikroKopterFlags8160 4e88 8860 ori r24,lo8(8)8161 4e8a 8093 0000 sts MikroKopterFlags,r248162 4e8e 0C94 0000 jmp .L7208163 .L990:8164 4e92 ADA5 ldd r26,Y+458165 4e94 BEA5 ldd r27,Y+468166 4e96 B093 0000 sts (hoehenregler.3078)+1,r278167 4e9a A093 0000 sts hoehenregler.3078,r268168 4e9e 0C94 0000 jmp .L9928169 .L803:8170 4ea2 E090 0000 lds r14,EE_Parameter+208171 4ea6 FF24 clr r158172 4ea8 00E0 ldi r16,lo8(0)8173 4eaa 10E0 ldi r17,hi8(0)8174 4eac 6981 ldd r22,Y+18175 4eae 7A81 ldd r23,Y+28176 4eb0 8B81 ldd r24,Y+38177 4eb2 9C81 ldd r25,Y+48178 4eb4 A801 movw r20,r168179 4eb6 9701 movw r18,r148180 4eb8 0E94 0000 call __divmodsi48181 4ebc 5901 movw r10,r188182 4ebe 6A01 movw r12,r208183 4ec0 8091 0000 lds r24,Mittelwert_AccNick8184 4ec4 9091 0000 lds r25,(Mittelwert_AccNick)+18185 4ec8 AA27 clr r268186 4eca 97FD sbrc r25,78187 4ecc A095 com r268188 4ece BA2F mov r27,r268189 4ed0 A81A sub r10,r248190 4ed2 B90A sbc r11,r258191 4ed4 CA0A sbc r12,r268192 4ed6 DB0A sbc r13,r278193 4ed8 6D81 ldd r22,Y+58194 4eda 7E81 ldd r23,Y+68195 4edc 8F81 ldd r24,Y+78196 4ede 9885 ldd r25,Y+88197 4ee0 A801 movw r20,r168198 4ee2 9701 movw r18,r148199 4ee4 0E94 0000 call __divmodsi48200 4ee8 7901 movw r14,r188201 4eea 8A01 movw r16,r208202 4eec 8091 0000 lds r24,Mittelwert_AccRoll8203 4ef0 9091 0000 lds r25,(Mittelwert_AccRoll)+18204 4ef4 AA27 clr r268205 4ef6 97FD sbrc r25,78206 4ef8 A095 com r268207 4efa BA2F mov r27,r268208 4efc E81A sub r14,r248209 4efe F90A sbc r15,r258210 4f00 0A0B sbc r16,r268211 4f02 1B0B sbc r17,r278212 4f04 C601 movw r24,r128213 4f06 B501 movw r22,r108214 4f08 20E1 ldi r18,lo8(16)8215 4f0a 30E0 ldi r19,hi8(16)8216 4f0c 40E0 ldi r20,hlo8(16)8217 4f0e 50E0 ldi r21,hhi8(16)8218 4f10 0E94 0000 call __divmodsi48219 4f14 3901 movw r6,r188220 4f16 4A01 movw r8,r208221 4f18 C801 movw r24,r168222 4f1a B701 movw r22,r148223 4f1c 20E1 ldi r18,lo8(16)8224 4f1e 30E0 ldi r19,hi8(16)8225 4f20 40E0 ldi r20,hlo8(16)8226 4f22 50E0 ldi r21,hhi8(16)8227 4f24 0E94 0000 call __divmodsi48228 4f28 5901 movw r10,r188229 4f2a 6A01 movw r12,r208230 4f2c 8091 0000 lds r24,MaxStickNick8231 4f30 9091 0000 lds r25,(MaxStickNick)+18232 4f34 8134 cpi r24,658233 4f36 9105 cpc r25,__zero_reg__8234 4f38 04F4 brge .L8168235 4f3a 8091 0000 lds r24,MaxStickRoll8236 4f3e 9091 0000 lds r25,(MaxStickRoll)+18237 4f42 8134 cpi r24,658238 4f44 9105 cpc r25,__zero_reg__8239 4f46 04F0 brlt .L8188240 .L816:8241 4f48 C401 movw r24,r88242 4f4a B301 movw r22,r68243 4f4c 23E0 ldi r18,lo8(3)8244 4f4e 30E0 ldi r19,hi8(3)8245 4f50 40E0 ldi r20,hlo8(3)8246 4f52 50E0 ldi r21,hhi8(3)8247 4f54 0E94 0000 call __divmodsi48248 4f58 3901 movw r6,r188249 4f5a 4A01 movw r8,r208250 4f5c C601 movw r24,r128251 4f5e B501 movw r22,r108252 4f60 23E0 ldi r18,lo8(3)8253 4f62 30E0 ldi r19,hi8(3)8254 4f64 40E0 ldi r20,hlo8(3)8255 4f66 50E0 ldi r21,hhi8(3)8256 4f68 0E94 0000 call __divmodsi48257 4f6c 5901 movw r10,r188258 4f6e 6A01 movw r12,r208259 .L818:8260 4f70 E091 0000 lds r30,EE_Parameter+38261 4f74 F0E0 ldi r31,lo8(0)8262 4f76 EE0F lsl r308263 4f78 FF1F rol r318264 4f7a E050 subi r30,lo8(-(PPM_in))8265 4f7c F040 sbci r31,hi8(-(PPM_in))8266 4f7e 0190 ld __tmp_reg__,Z+8267 4f80 F081 ld r31,Z8268 4f82 E02D mov r30,__tmp_reg__8269 4f84 F7FD sbrc r31,78270 4f86 00C0 rjmp .L11178271 .L820:8272 4f88 7A97 sbiw r30,268273 4f8a 04F0 brlt .L8198274 4f8c C401 movw r24,r88275 4f8e B301 movw r22,r68276 4f90 23E0 ldi r18,lo8(3)8277 4f92 30E0 ldi r19,hi8(3)8278 4f94 40E0 ldi r20,hlo8(3)8279 4f96 50E0 ldi r21,hhi8(3)8280 4f98 0E94 0000 call __divmodsi48281 4f9c 3901 movw r6,r188282 4f9e 4A01 movw r8,r208283 4fa0 C601 movw r24,r128284 4fa2 B501 movw r22,r108285 4fa4 23E0 ldi r18,lo8(3)8286 4fa6 30E0 ldi r19,hi8(3)8287 4fa8 40E0 ldi r20,hlo8(3)8288 4faa 50E0 ldi r21,hhi8(3)8289 4fac 0E94 0000 call __divmodsi48290 4fb0 5901 movw r10,r188291 4fb2 6A01 movw r12,r208292 .L819:8293 4fb4 71E2 ldi r23,lo8(33)8294 4fb6 6716 cp r6,r238295 4fb8 7104 cpc r7,__zero_reg__8296 4fba 8104 cpc r8,__zero_reg__8297 4fbc 9104 cpc r9,__zero_reg__8298 4fbe 04F4 brge .+28299 4fc0 00C0 rjmp .L8228300 4fc2 80E2 ldi r24,lo8(32)8301 4fc4 682E mov r6,r248302 4fc6 712C mov r7,__zero_reg__8303 4fc8 812C mov r8,__zero_reg__8304 4fca 912C mov r9,__zero_reg__8305 .L824:8306 4fcc 91E2 ldi r25,lo8(33)8307 4fce A916 cp r10,r258308 4fd0 B104 cpc r11,__zero_reg__8309 4fd2 C104 cpc r12,__zero_reg__8310 4fd4 D104 cpc r13,__zero_reg__8311 4fd6 04F4 brge .+28312 4fd8 00C0 rjmp .L8268313 4fda 10E2 ldi r17,lo8(32)8314 4fdc A12E mov r10,r178315 4fde B12C mov r11,__zero_reg__8316 4fe0 C12C mov r12,__zero_reg__8317 4fe2 D12C mov r13,__zero_reg__8318 4fe4 00C0 rjmp .L8148319 .L1096:8320 4fe6 8091 0000 lds r24,MessLuftdruck8321 4fea 9091 0000 lds r25,(MessLuftdruck)+18322 4fee 895E subi r24,lo8(1001)8323 4ff0 9340 sbci r25,hi8(1001)8324 4ff2 00F4 brsh .+28325 4ff4 00C0 rjmp .L9758326 4ff6 9091 0000 lds r25,ExpandBaro8327 4ffa 9A50 subi r25,lo8(-(-10))8328 .L1054:8329 4ffc 9093 0000 sts ExpandBaro,r258330 5000 8091 0000 lds r24,DruckOffsetSetting8331 5004 891B sub r24,r258332 5006 87BD out 71-0x20,r248333 5008 8CE2 ldi r24,lo8(300)8334 500a 91E0 ldi r25,hi8(300)8335 500c 9093 0000 sts (beeptime)+1,r258336 5010 8093 0000 sts beeptime,r248337 5014 8AEF ldi r24,lo8(-6)8338 5016 8093 0000 sts delay.3112,r248339 501a 2091 0000 lds r18,HoehenWert8340 501e 3091 0000 lds r19,(HoehenWert)+18341 5022 00C0 rjmp .L9738342 .L1109:8343 5024 0396 adiw r24,38344 5026 00C0 rjmp .L9838345 .L1111:8346 5028 215F subi r18,lo8(-(15))8347 502a 3F4F sbci r19,hi8(-(15))8348 502c 00C0 rjmp .L9878349 .L1110:8350 502e 2F5F subi r18,lo8(-(1))8351 5030 3F4F sbci r19,hi8(-(1))8352 5032 00C0 rjmp .L9858353 .L873:8354 5034 21E0 ldi r18,lo8(4097)8355 5036 A216 cp r10,r188356 5038 20E1 ldi r18,hi8(4097)8357 503a B206 cpc r11,r188358 503c 20E0 ldi r18,hlo8(4097)8359 503e C206 cpc r12,r188360 5040 20E0 ldi r18,hhi8(4097)8361 5042 D206 cpc r13,r188362 5044 04F4 brge .+28363 5046 00C0 rjmp .L8768364 5048 8091 0000 lds r24,last_r_p.31028365 504c 8823 tst r248366 504e 01F4 brne .+28367 5050 00C0 rjmp .L8788368 5052 D601 movw r26,r128369 5054 C501 movw r24,r108370 5056 49E0 ldi r20,98371 5058 B595 1: asr r278372 505a A795 ror r268373 505c 9795 ror r258374 505e 8795 ror r248375 5060 4A95 dec r208376 5062 01F4 brne 1b8377 5064 0196 adiw r24,18378 5066 9093 0000 sts (cnt.3099)+1,r258379 506a 8093 0000 sts cnt.3099,r248380 506e D601 movw r26,r128381 5070 C501 movw r24,r108382 5072 33E0 ldi r19,38383 5074 B595 1: asr r278384 5076 A795 ror r268385 5078 9795 ror r258386 507a 8795 ror r248387 507c 3A95 dec r198388 507e 01F4 brne 1b8389 5080 8093 0000 sts ausgleichRoll.3090,r248390 5084 9093 0000 sts (ausgleichRoll.3090)+1,r258391 5088 A093 0000 sts (ausgleichRoll.3090)+2,r268392 508c B093 0000 sts (ausgleichRoll.3090)+3,r278393 5090 8958 subi r24,lo8(5001)8394 5092 9341 sbci r25,hi8(5001)8395 5094 A040 sbci r26,hlo8(5001)8396 5096 B040 sbci r27,hhi8(5001)8397 5098 04F0 brlt .L8808398 509a 88E8 ldi r24,lo8(5000)8399 509c 93E1 ldi r25,hi8(5000)8400 509e A0E0 ldi r26,hlo8(5000)8401 50a0 B0E0 ldi r27,hhi8(5000)8402 50a2 8093 0000 sts ausgleichRoll.3090,r248403 50a6 9093 0000 sts (ausgleichRoll.3090)+1,r258404 50aa A093 0000 sts (ausgleichRoll.3090)+2,r268405 50ae B093 0000 sts (ausgleichRoll.3090)+3,r278406 .L880:8407 50b2 6091 0000 lds r22,ausgleichRoll.30908408 50b6 7091 0000 lds r23,(ausgleichRoll.3090)+18409 50ba 8091 0000 lds r24,(ausgleichRoll.3090)+28410 50be 9091 0000 lds r25,(ausgleichRoll.3090)+38411 50c2 20E0 ldi r18,lo8(256)8412 50c4 31E0 ldi r19,hi8(256)8413 50c6 40E0 ldi r20,hlo8(256)8414 50c8 50E0 ldi r21,hhi8(256)8415 50ca 0E94 0000 call __divmodsi48416 50ce 8091 0000 lds r24,LageKorrekturRoll8417 50d2 9091 0000 lds r25,(LageKorrekturRoll)+18418 50d6 820F add r24,r188419 50d8 931F adc r25,r198420 50da 9093 0000 sts (LageKorrekturRoll)+1,r258421 50de 8093 0000 sts LageKorrekturRoll,r248422 .L882:8423 50e2 1092 0000 sts last_r_n.3103,__zero_reg__8424 50e6 00C0 rjmp .L8888425 .L1047:8426 50e8 9090 0000 lds r9,FromNaviCtrl_Value+18427 .L848:8428 50ec 51E0 ldi r21,lo8(4097)8429 50ee E516 cp r14,r218430 50f0 50E1 ldi r21,hi8(4097)8431 50f2 F506 cpc r15,r218432 50f4 50E0 ldi r21,hlo8(4097)8433 50f6 0507 cpc r16,r218434 50f8 50E0 ldi r21,hhi8(4097)8435 50fa 1507 cpc r17,r218436 50fc 04F4 brge .+28437 50fe 00C0 rjmp .L8518438 5100 8091 0000 lds r24,last_n_p.31008439 5104 8823 tst r248440 5106 01F4 brne .+28441 5108 00C0 rjmp .L8538442 510a D801 movw r26,r168443 510c C701 movw r24,r148444 510e 79E0 ldi r23,98445 5110 B595 1: asr r278446 5112 A795 ror r268447 5114 9795 ror r258448 5116 8795 ror r248449 5118 7A95 dec r238450 511a 01F4 brne 1b8451 511c 0196 adiw r24,18452 511e 9093 0000 sts (cnt.3099)+1,r258453 5122 8093 0000 sts cnt.3099,r248454 5126 D801 movw r26,r168455 5128 C701 movw r24,r148456 512a 63E0 ldi r22,38457 512c B595 1: asr r278458 512e A795 ror r268459 5130 9795 ror r258460 5132 8795 ror r248461 5134 6A95 dec r228462 5136 01F4 brne 1b8463 5138 8093 0000 sts ausgleichNick.3089,r248464 513c 9093 0000 sts (ausgleichNick.3089)+1,r258465 5140 A093 0000 sts (ausgleichNick.3089)+2,r268466 5144 B093 0000 sts (ausgleichNick.3089)+3,r278467 5148 8958 subi r24,lo8(5001)8468 514a 9341 sbci r25,hi8(5001)8469 514c A040 sbci r26,hlo8(5001)8470 514e B040 sbci r27,hhi8(5001)8471 5150 04F0 brlt .L8558472 5152 88E8 ldi r24,lo8(5000)8473 5154 93E1 ldi r25,hi8(5000)8474 5156 A0E0 ldi r26,hlo8(5000)8475 5158 B0E0 ldi r27,hhi8(5000)8476 515a 8093 0000 sts ausgleichNick.3089,r248477 515e 9093 0000 sts (ausgleichNick.3089)+1,r258478 5162 A093 0000 sts (ausgleichNick.3089)+2,r268479 5166 B093 0000 sts (ausgleichNick.3089)+3,r278480 .L855:8481 516a 6091 0000 lds r22,ausgleichNick.30898482 516e 7091 0000 lds r23,(ausgleichNick.3089)+18483 5172 8091 0000 lds r24,(ausgleichNick.3089)+28484 5176 9091 0000 lds r25,(ausgleichNick.3089)+38485 517a 20E0 ldi r18,lo8(256)8486 517c 31E0 ldi r19,hi8(256)8487 517e 40E0 ldi r20,hlo8(256)8488 5180 50E0 ldi r21,hhi8(256)8489 5182 0E94 0000 call __divmodsi48490 5186 8091 0000 lds r24,LageKorrekturNick8491 518a 9091 0000 lds r25,(LageKorrekturNick)+18492 518e 820F add r24,r188493 5190 931F adc r25,r198494 5192 9093 0000 sts (LageKorrekturNick)+1,r258495 5196 8093 0000 sts LageKorrekturNick,r248496 .L857:8497 519a 1092 0000 sts last_n_n.3101,__zero_reg__8498 519e 00C0 rjmp .L8638499 .L1106:8500 51a0 F095 com r318501 51a2 E195 neg r308502 51a4 FF4F sbci r31,lo8(-1)8503 51a6 0C94 0000 jmp .L8098504 .L826:8505 51aa A0EE ldi r26,lo8(-32)8506 51ac AA16 cp r10,r268507 51ae AFEF ldi r26,hi8(-32)8508 51b0 BA06 cpc r11,r268509 51b2 AFEF ldi r26,hlo8(-32)8510 51b4 CA06 cpc r12,r268511 51b6 AFEF ldi r26,hhi8(-32)8512 51b8 DA06 cpc r13,r268513 51ba 04F0 brlt .+48514 51bc 0C94 0000 jmp .L8148515 51c0 B0EE ldi r27,lo8(-32)8516 51c2 AB2E mov r10,r278517 51c4 BFEF ldi r27,hi8(-32)8518 51c6 BB2E mov r11,r278519 51c8 BFEF ldi r27,hlo8(-32)8520 51ca CB2E mov r12,r278521 51cc BFEF ldi r27,hhi8(-32)8522 51ce DB2E mov r13,r278523 51d0 0C94 0000 jmp .L8148524 .L822:8525 51d4 80EE ldi r24,lo8(-32)8526 51d6 6816 cp r6,r248527 51d8 8FEF ldi r24,hi8(-32)8528 51da 7806 cpc r7,r248529 51dc 8FEF ldi r24,hlo8(-32)8530 51de 8806 cpc r8,r248531 51e0 8FEF ldi r24,hhi8(-32)8532 51e2 9806 cpc r9,r248533 51e4 04F0 brlt .+28534 51e6 00C0 rjmp .L8248535 51e8 00EE ldi r16,lo8(-32)8536 51ea 602E mov r6,r168537 51ec 0FEF ldi r16,hi8(-32)8538 51ee 702E mov r7,r168539 51f0 0FEF ldi r16,hlo8(-32)8540 51f2 802E mov r8,r168541 51f4 0FEF ldi r16,hhi8(-32)8542 51f6 902E mov r9,r168543 51f8 00C0 rjmp .L8248544 .L1069:8545 51fa 87E0 ldi r24,lo8(7)8546 51fc 90E0 ldi r25,hi8(7)8547 51fe 680E add r6,r248548 5200 791E adc r7,r258549 5202 0C94 0000 jmp .L9298550 .L975:8551 5206 8091 0000 lds r24,MessLuftdruck8552 520a 9091 0000 lds r25,(MessLuftdruck)+18553 520e 8436 cpi r24,1008554 5210 9105 cpc r25,__zero_reg__8555 5212 00F0 brlo .+28556 5214 00C0 rjmp .L9778557 5216 9091 0000 lds r25,ExpandBaro8558 521a 965F subi r25,lo8(-(10))8559 521c 00C0 rjmp .L10548560 .L708:8561 521e 1092 0000 sts delay_neutral.3075,__zero_reg__8562 5222 0C94 0000 jmp .L6718563 .L851:8564 5226 1092 0000 sts last_n_p.3100,__zero_reg__8565 522a 70E0 ldi r23,lo8(-4096)8566 522c E716 cp r14,r238567 522e 70EF ldi r23,hi8(-4096)8568 5230 F706 cpc r15,r238569 5232 7FEF ldi r23,hlo8(-4096)8570 5234 0707 cpc r16,r238571 5236 7FEF ldi r23,hhi8(-4096)8572 5238 1707 cpc r17,r238573 523a 04F0 brlt .+28574 523c 00C0 rjmp .L8578575 523e 8091 0000 lds r24,last_n_n.31018576 5242 8823 tst r248577 5244 01F4 brne .+28578 5246 00C0 rjmp .L8598579 5248 8827 clr r248580 524a 9927 clr r258581 524c DC01 movw r26,r248582 524e 8E19 sub r24,r148583 5250 9F09 sbc r25,r158584 5252 A00B sbc r26,r168585 5254 B10B sbc r27,r178586 5256 59E0 ldi r21,98587 5258 B595 1: asr r278588 525a A795 ror r268589 525c 9795 ror r258590 525e 8795 ror r248591 5260 5A95 dec r218592 5262 01F4 brne 1b8593 5264 0196 adiw r24,18594 5266 9093 0000 sts (cnt.3099)+1,r258595 526a 8093 0000 sts cnt.3099,r248596 526e C801 movw r24,r168597 5270 B701 movw r22,r148598 5272 28E0 ldi r18,lo8(8)8599 5274 30E0 ldi r19,hi8(8)8600 5276 40E0 ldi r20,hlo8(8)8601 5278 50E0 ldi r21,hhi8(8)8602 527a 0E94 0000 call __divmodsi48603 527e 2093 0000 sts ausgleichNick.3089,r188604 5282 3093 0000 sts (ausgleichNick.3089)+1,r198605 5286 4093 0000 sts (ausgleichNick.3089)+2,r208606 528a 5093 0000 sts (ausgleichNick.3089)+3,r218607 528e 2857 subi r18,lo8(-5000)8608 5290 3C4E sbci r19,hi8(-5000)8609 5292 4F4F sbci r20,hlo8(-5000)8610 5294 5F4F sbci r21,hhi8(-5000)8611 5296 04F4 brge .L8618612 5298 88E7 ldi r24,lo8(-5000)8613 529a 9CEE ldi r25,hi8(-5000)8614 529c AFEF ldi r26,hlo8(-5000)8615 529e BFEF ldi r27,hhi8(-5000)8616 52a0 8093 0000 sts ausgleichNick.3089,r248617 52a4 9093 0000 sts (ausgleichNick.3089)+1,r258618 52a8 A093 0000 sts (ausgleichNick.3089)+2,r268619 52ac B093 0000 sts (ausgleichNick.3089)+3,r278620 .L861:8621 52b0 6091 0000 lds r22,ausgleichNick.30898622 52b4 7091 0000 lds r23,(ausgleichNick.3089)+18623 52b8 8091 0000 lds r24,(ausgleichNick.3089)+28624 52bc 9091 0000 lds r25,(ausgleichNick.3089)+38625 52c0 20E0 ldi r18,lo8(256)8626 52c2 31E0 ldi r19,hi8(256)8627 52c4 40E0 ldi r20,hlo8(256)8628 52c6 50E0 ldi r21,hhi8(256)8629 52c8 0E94 0000 call __divmodsi48630 52cc 8091 0000 lds r24,LageKorrekturNick8631 52d0 9091 0000 lds r25,(LageKorrekturNick)+18632 52d4 820F add r24,r188633 52d6 931F adc r25,r198634 52d8 9093 0000 sts (LageKorrekturNick)+1,r258635 52dc 8093 0000 sts LageKorrekturNick,r248636 52e0 00C0 rjmp .L8638637 .L876:8638 52e2 1092 0000 sts last_r_p.3102,__zero_reg__8639 52e6 40E0 ldi r20,lo8(-4096)8640 52e8 A416 cp r10,r208641 52ea 40EF ldi r20,hi8(-4096)8642 52ec B406 cpc r11,r208643 52ee 4FEF ldi r20,hlo8(-4096)8644 52f0 C406 cpc r12,r208645 52f2 4FEF ldi r20,hhi8(-4096)8646 52f4 D406 cpc r13,r208647 52f6 04F0 brlt .+28648 52f8 00C0 rjmp .L8828649 52fa 8091 0000 lds r24,last_r_n.31038650 52fe 8823 tst r248651 5300 01F4 brne .+28652 5302 00C0 rjmp .L8848653 5304 8827 clr r248654 5306 9927 clr r258655 5308 DC01 movw r26,r248656 530a 8A19 sub r24,r108657 530c 9B09 sbc r25,r118658 530e AC09 sbc r26,r128659 5310 BD09 sbc r27,r138660 5312 29E0 ldi r18,98661 5314 B595 1: asr r278662 5316 A795 ror r268663 5318 9795 ror r258664 531a 8795 ror r248665 531c 2A95 dec r188666 531e 01F4 brne 1b8667 5320 0196 adiw r24,18668 5322 9093 0000 sts (cnt.3099)+1,r258669 5326 8093 0000 sts cnt.3099,r248670 532a C601 movw r24,r128671 532c B501 movw r22,r108672 532e 28E0 ldi r18,lo8(8)8673 5330 30E0 ldi r19,hi8(8)8674 5332 40E0 ldi r20,hlo8(8)8675 5334 50E0 ldi r21,hhi8(8)8676 5336 0E94 0000 call __divmodsi48677 533a 2093 0000 sts ausgleichRoll.3090,r188678 533e 3093 0000 sts (ausgleichRoll.3090)+1,r198679 5342 4093 0000 sts (ausgleichRoll.3090)+2,r208680 5346 5093 0000 sts (ausgleichRoll.3090)+3,r218681 534a 2857 subi r18,lo8(-5000)8682 534c 3C4E sbci r19,hi8(-5000)8683 534e 4F4F sbci r20,hlo8(-5000)8684 5350 5F4F sbci r21,hhi8(-5000)8685 5352 04F4 brge .L8868686 5354 88E7 ldi r24,lo8(-5000)8687 5356 9CEE ldi r25,hi8(-5000)8688 5358 AFEF ldi r26,hlo8(-5000)8689 535a BFEF ldi r27,hhi8(-5000)8690 535c 8093 0000 sts ausgleichRoll.3090,r248691 5360 9093 0000 sts (ausgleichRoll.3090)+1,r258692 5364 A093 0000 sts (ausgleichRoll.3090)+2,r268693 5368 B093 0000 sts (ausgleichRoll.3090)+3,r278694 .L886:8695 536c 6091 0000 lds r22,ausgleichRoll.30908696 5370 7091 0000 lds r23,(ausgleichRoll.3090)+18697 5374 8091 0000 lds r24,(ausgleichRoll.3090)+28698 5378 9091 0000 lds r25,(ausgleichRoll.3090)+38699 537c 20E0 ldi r18,lo8(256)8700 537e 31E0 ldi r19,hi8(256)8701 5380 40E0 ldi r20,hlo8(256)8702 5382 50E0 ldi r21,hhi8(256)8703 5384 0E94 0000 call __divmodsi48704 5388 8091 0000 lds r24,LageKorrekturRoll8705 538c 9091 0000 lds r25,(LageKorrekturRoll)+18706 5390 820F add r24,r188707 5392 931F adc r25,r198708 5394 9093 0000 sts (LageKorrekturRoll)+1,r258709 5398 8093 0000 sts LageKorrekturRoll,r248710 539c 00C0 rjmp .L8888711 .L700:8712 539e 0E94 0000 call GetActiveParamSetNumber8713 53a2 4CE5 ldi r20,lo8(92)8714 53a4 60E0 ldi r22,lo8(EE_Parameter)8715 53a6 70E0 ldi r23,hi8(EE_Parameter)8716 53a8 0E94 0000 call ReadParameterSet8717 53ac 8091 0000 lds r24,EE_Parameter+88718 53b0 80FF sbrs r24,08719 53b2 00C0 rjmp .L7048720 53b4 8091 0000 lds r24,MessLuftdruck8721 53b8 9091 0000 lds r25,(MessLuftdruck)+18722 53bc 875B subi r24,lo8(951)8723 53be 9340 sbci r25,hi8(951)8724 53c0 00F4 brsh .L7068725 53c2 8091 0000 lds r24,MessLuftdruck8726 53c6 9091 0000 lds r25,(MessLuftdruck)+18727 53ca 8E5E subi r24,lo8(750)8728 53cc 9240 sbci r25,hi8(750)8729 53ce 00F4 brsh .L7048730 .L706:8731 53d0 0E94 0000 call SucheLuftruckOffset8732 .L704:8733 53d4 0E94 0000 call SetNeutral8734 53d8 00C0 rjmp .L10538735 .L1117:8736 53da F095 com r318737 53dc E195 neg r308738 53de FF4F sbci r31,lo8(-1)8739 53e0 00C0 rjmp .L8208740 .L977:8741 53e2 2091 0000 lds r18,HoehenWert8742 53e6 3091 0000 lds r19,(HoehenWert)+18743 53ea 2451 subi r18,lo8(-(-20))8744 53ec 3040 sbci r19,hi8(-(-20))8745 53ee 3093 0000 sts (SollHoehe)+1,r198746 53f2 2093 0000 sts SollHoehe,r188747 53f6 2C5E subi r18,lo8(-(20))8748 53f8 3F4F sbci r19,hi8(-(20))8749 53fa 1092 0000 sts HoehenReglerAktiv,__zero_reg__8750 53fe 81E0 ldi r24,lo8(1)8751 5400 8093 0000 sts delay.3112,r248752 5404 0C94 0000 jmp .L9738753 .L687:8754 5408 41E0 ldi r20,lo8(1)8755 540a 0C94 0000 jmp .L6908756 .L1113:8757 540e 9601 movw r18,r128758 5410 D7FC sbrc r13,78759 5412 00C0 rjmp .L11188760 .L842:8761 5414 3595 asr r198762 5416 2795 ror r188763 5418 3093 0000 sts (LageKorrekturNick)+1,r198764 541c 2093 0000 sts LageKorrekturNick,r188765 5420 9B01 movw r18,r228766 5422 77FD sbrc r23,78767 5424 00C0 rjmp .L11198768 .L843:8769 5426 3595 asr r198770 5428 2795 ror r188771 542a 3093 0000 sts (LageKorrekturRoll)+1,r198772 542e 2093 0000 sts LageKorrekturRoll,r188773 5432 00C0 rjmp .L8398774 .L680:8775 5434 8091 0000 lds r24,EE_Parameter+18776 5438 A82F mov r26,r248777 543a B0E0 ldi r27,lo8(0)8778 543c AA0F lsl r268779 543e BB1F rol r278780 5440 FD01 movw r30,r268781 5442 E050 subi r30,lo8(-(PPM_in))8782 5444 F040 sbci r31,hi8(-(PPM_in))8783 5446 0190 ld __tmp_reg__,Z+8784 5448 F081 ld r31,Z8785 544a E02D mov r30,__tmp_reg__8786 544c F7FD sbrc r31,78787 544e 00C0 rjmp .L11208788 .L684:8789 5450 E734 cpi r30,718790 5452 F105 cpc r31,__zero_reg__8791 5454 04F4 brge .+48792 5456 0C94 0000 jmp .L6838793 545a 0C94 0000 jmp .L6828794 .L677:8795 545e 299A sbi 37-0x20,18796 5460 0C94 0000 jmp .L6798797 .L853:8798 5464 81E0 ldi r24,lo8(1)8799 5466 8093 0000 sts last_n_p.3100,r248800 546a 00C0 rjmp .L8578801 .L878:8802 546c 81E0 ldi r24,lo8(1)8803 546e 8093 0000 sts last_r_p.3102,r248804 5472 00C0 rjmp .L8828805 .L711:8806 5474 299A sbi 37-0x20,18807 5476 00C0 rjmp .L7138808 .L1071:8809 5478 9095 com r258810 547a 8195 neg r248811 547c 9F4F sbci r25,lo8(-1)8812 547e 0C94 0000 jmp .L7018813 .L884:8814 5482 81E0 ldi r24,lo8(1)8815 5484 8093 0000 sts last_r_n.3103,r248816 5488 00C0 rjmp .L8888817 .L859:8818 548a 81E0 ldi r24,lo8(1)8819 548c 8093 0000 sts last_n_n.3101,r248820 5490 00C0 rjmp .L8638821 .L1119:8822 5492 2F5F subi r18,lo8(-(1))8823 5494 3F4F sbci r19,hi8(-(1))8824 5496 00C0 rjmp .L8438825 .L1118:8826 5498 2F5F subi r18,lo8(-(1))8827 549a 3F4F sbci r19,hi8(-(1))8828 549c 00C0 rjmp .L8428829 .L1112:8830 549e F095 com r318831 54a0 E195 neg r308832 54a2 FF4F sbci r31,lo8(-1)8833 54a4 00C0 rjmp .L8408834 .L1115:8835 54a6 2150 subi r18,lo8(-(255))8836 54a8 3F4F sbci r19,hi8(-(255))8837 54aa 00C0 rjmp .L7158838 .L1114:8839 54ac 8150 subi r24,lo8(-(255))8840 54ae 9F4F sbci r25,hi8(-(255))8841 54b0 00C0 rjmp .L7148842 .L1116:8843 54b2 2150 subi r18,lo8(-(255))8844 54b4 3F4F sbci r19,hi8(-(255))8845 54b6 00C0 rjmp .L7168846 .L1120:8847 54b8 F095 com r318848 54ba E195 neg r308849 54bc FF4F sbci r31,lo8(-1)8850 54be 00C0 rjmp .L6848851 .L1041:8852 54c0 6092 0000 sts Motor_Rechts,r68853 /* epilogue: frame size=46 */8854 54c4 AE96 adiw r28,468855 54c6 0FB6 in __tmp_reg__,__SREG__8856 54c8 F894 cli8857 54ca DEBF out __SP_H__,r298858 54cc 0FBE out __SREG__,__tmp_reg__8859 54ce CDBF out __SP_L__,r288860 54d0 DF91 pop r298861 54d2 CF91 pop r288862 54d4 1F91 pop r178863 54d6 0F91 pop r168864 54d8 FF90 pop r158865 54da EF90 pop r148866 54dc DF90 pop r138867 54de CF90 pop r128868 54e0 BF90 pop r118869 54e2 AF90 pop r108870 54e4 9F90 pop r98871 54e6 8F90 pop r88872 54e8 7F90 pop r78873 54ea 6F90 pop r68874 54ec 5F90 pop r58875 54ee 4F90 pop r48876 54f0 3F90 pop r38877 54f2 2F90 pop r28878 54f4 0895 ret8879 /* epilogue end (size=25) */8880 /* function MotorRegler size 5990 (5939) */8882 .global I2CTimeout8883 .data8886 I2CTimeout:8887 0019 6400 .word 1008888 .global AdNeutralNick8889 .global AdNeutralNick8890 .section .bss8893 AdNeutralNick:8894 0000 0000 .skip 2,08895 .global AdNeutralRoll8896 .global AdNeutralRoll8899 AdNeutralRoll:8900 0002 0000 .skip 2,08901 .global AdNeutralGier8902 .global AdNeutralGier8905 AdNeutralGier:8906 0004 0000 .skip 2,08907 .global StartNeutralRoll8908 .global StartNeutralRoll8911 StartNeutralRoll:8912 0006 0000 .skip 2,08913 .global StartNeutralNick8914 .global StartNeutralNick8917 StartNeutralNick:8918 0008 0000 .skip 2,08919 .global NeutralAccX8920 .global NeutralAccX8923 NeutralAccX:8924 000a 0000 .skip 2,08925 .global NeutralAccY8926 .global NeutralAccY8929 NeutralAccY:8930 000c 0000 .skip 2,08931 .global NaviCntAcc8932 .global NaviCntAcc8935 NaviCntAcc:8936 000e 0000 .skip 2,08937 .global NeutralAccZ8938 .global NeutralAccZ8941 NeutralAccZ:8942 0010 0000 0000 .skip 4,08943 .global CosinusNickWinkel8944 .global CosinusNickWinkel8947 CosinusNickWinkel:8948 0014 00 .skip 1,08949 .global CosinusRollWinkel8950 .global CosinusRollWinkel8953 CosinusRollWinkel:8954 0015 00 .skip 1,08955 .global IntegralNick8956 .global IntegralNick8959 IntegralNick:8960 0016 0000 0000 .skip 4,08961 .global IntegralNick28962 .global IntegralNick28965 IntegralNick2:8966 001a 0000 0000 .skip 4,08967 .global IntegralRoll8968 .global IntegralRoll8971 IntegralRoll:8972 001e 0000 0000 .skip 4,08973 .global IntegralRoll28974 .global IntegralRoll28977 IntegralRoll2:8978 0022 0000 0000 .skip 4,08979 .global IntegralAccNick8980 .global IntegralAccNick8983 IntegralAccNick:8984 0026 0000 0000 .skip 4,08985 .global IntegralAccRoll8986 .global IntegralAccRoll8989 IntegralAccRoll:8990 002a 0000 0000 .skip 4,08991 .global IntegralAccZ8992 .global IntegralAccZ8995 IntegralAccZ:8996 002e 0000 0000 .skip 4,08997 .global Integral_Gier8998 .global Integral_Gier9001 Integral_Gier:9002 0032 0000 0000 .skip 4,09003 .global Mess_IntegralNick9004 .global Mess_IntegralNick9007 Mess_IntegralNick:9008 0036 0000 0000 .skip 4,09009 .global Mess_IntegralNick29010 .global Mess_IntegralNick29013 Mess_IntegralNick2:9014 003a 0000 0000 .skip 4,09015 .global Mess_IntegralRoll9016 .global Mess_IntegralRoll9019 Mess_IntegralRoll:9020 003e 0000 0000 .skip 4,09021 .global Mess_IntegralRoll29022 .global Mess_IntegralRoll29025 Mess_IntegralRoll2:9026 0042 0000 0000 .skip 4,09027 .global Mess_Integral_Gier9028 .global Mess_Integral_Gier9031 Mess_Integral_Gier:9032 0046 0000 0000 .skip 4,09033 .global Mess_Integral_Gier29034 .global Mess_Integral_Gier29037 Mess_Integral_Gier2:9038 004a 0000 0000 .skip 4,09039 .global Mess_Integral_Hoch9040 .global Mess_Integral_Hoch9043 Mess_Integral_Hoch:9044 004e 0000 0000 .skip 4,09045 .global KompassValue9046 .global KompassValue9049 KompassValue:9050 0052 0000 .skip 2,09051 .global KompassStartwert9052 .global KompassStartwert9055 KompassStartwert:9056 0054 0000 .skip 2,09057 .global KompassRichtung9058 .global KompassRichtung9061 KompassRichtung:9062 0056 0000 .skip 2,09063 .global KompassSignalSchlecht9064 .data9067 KompassSignalSchlecht:9068 001b F401 .word 5009069 .global Notlandung9070 .global Notlandung9071 .section .bss9074 Notlandung:9075 0058 00 .skip 1,09076 .global HoehenReglerAktiv9077 .global HoehenReglerAktiv9080 HoehenReglerAktiv:9081 0059 00 .skip 1,09082 .global TrichterFlug9083 .global TrichterFlug9086 TrichterFlug:9087 005a 00 .skip 1,09088 .global Umschlag180Nick9089 .data9092 Umschlag180Nick:9093 001d 90 .byte -1129094 001e D0 .byte -489095 001f 03 .byte 39096 0020 00 .byte 09097 .global Umschlag180Roll9100 Umschlag180Roll:9101 0021 90 .byte -1129102 0022 D0 .byte -489103 0023 03 .byte 39104 0024 00 .byte 09105 .global GierGyroFehler9106 .global GierGyroFehler9107 .section .bss9110 GierGyroFehler:9111 005b 0000 .skip 2,09112 .global Poti19113 .global Poti19116 Poti1:9117 005d 0000 .skip 2,09118 .global Poti29119 .global Poti29122 Poti2:9123 005f 0000 .skip 2,09124 .global Poti39125 .global Poti39128 Poti3:9129 0061 0000 .skip 2,09130 .global Poti49131 .global Poti49134 Poti4:9135 0063 0000 .skip 2,09136 .global SenderOkay9137 .global SenderOkay9140 SenderOkay:9141 0065 00 .skip 1,09142 .global StickNick9143 .global StickNick9146 StickNick:9147 0066 0000 .skip 2,09148 .global StickRoll9149 .global StickRoll9152 StickRoll:9153 0068 0000 .skip 2,09154 .global StickGier9155 .global StickGier9158 StickGier:9159 006a 0000 .skip 2,09160 .global StickGas9161 .global StickGas9164 StickGas:9165 006c 0000 .skip 2,09166 .global MotorenEin9167 .global MotorenEin9170 MotorenEin:9171 006e 00 .skip 1,09172 .global HoehenWert9173 .global HoehenWert9176 HoehenWert:9177 006f 0000 .skip 2,09178 .global SollHoehe9179 .global SollHoehe9182 SollHoehe:9183 0071 0000 .skip 2,09184 .global LageKorrekturRoll9185 .global LageKorrekturRoll9188 LageKorrekturRoll:9189 0073 0000 .skip 2,09190 .global LageKorrekturNick9191 .global LageKorrekturNick9194 LageKorrekturNick:9195 0075 0000 .skip 2,09196 .global Ki9197 .data9200 Ki:9201 0025 3801 .word 3129202 .global Looping_Nick9203 .global Looping_Nick9204 .section .bss9207 Looping_Nick:9208 0077 00 .skip 1,09209 .global Looping_Roll9210 .global Looping_Roll9213 Looping_Roll:9214 0078 00 .skip 1,09215 .global Looping_Links9216 .global Looping_Links9219 Looping_Links:9220 0079 00 .skip 1,09221 .global Looping_Rechts9222 .global Looping_Rechts9225 Looping_Rechts:9226 007a 00 .skip 1,09227 .global Looping_Unten9228 .global Looping_Unten9231 Looping_Unten:9232 007b 00 .skip 1,09233 .global Looping_Oben9234 .global Looping_Oben9237 Looping_Oben:9238 007c 00 .skip 1,09239 .global Parameter_Luftdruck_D9240 .data9243 Parameter_Luftdruck_D:9244 0027 30 .byte 489245 .global Parameter_MaxHoehe9248 Parameter_MaxHoehe:9249 0028 FB .byte -59250 .global Parameter_Hoehe_P9253 Parameter_Hoehe_P:9254 0029 10 .byte 169255 .global Parameter_Hoehe_ACC_Wirkung9258 Parameter_Hoehe_ACC_Wirkung:9259 002a 3A .byte 589260 .global Parameter_KompassWirkung9263 Parameter_KompassWirkung:9264 002b 40 .byte 649265 .global Parameter_Gyro_D9268 Parameter_Gyro_D:9269 002c 08 .byte 89270 .global Parameter_Gyro_P9273 Parameter_Gyro_P:9274 002d 96 .byte -1069275 .global Parameter_Gyro_I9278 Parameter_Gyro_I:9279 002e 96 .byte -1069280 .global Parameter_Gier_P9283 Parameter_Gier_P:9284 002f 02 .byte 29285 .global Parameter_I_Faktor9288 Parameter_I_Faktor:9289 0030 0A .byte 109290 .global Parameter_UserParam19291 .global Parameter_UserParam19292 .section .bss9295 Parameter_UserParam1:9296 007d 00 .skip 1,09297 .global Parameter_UserParam29298 .global Parameter_UserParam29301 Parameter_UserParam2:9302 007e 00 .skip 1,09303 .global Parameter_UserParam39304 .global Parameter_UserParam39307 Parameter_UserParam3:9308 007f 00 .skip 1,09309 .global Parameter_UserParam49310 .global Parameter_UserParam49313 Parameter_UserParam4:9314 0080 00 .skip 1,09315 .global Parameter_UserParam59316 .global Parameter_UserParam59319 Parameter_UserParam5:9320 0081 00 .skip 1,09321 .global Parameter_UserParam69322 .global Parameter_UserParam69325 Parameter_UserParam6:9326 0082 00 .skip 1,09327 .global Parameter_UserParam79328 .global Parameter_UserParam79331 Parameter_UserParam7:9332 0083 00 .skip 1,09333 .global Parameter_UserParam89334 .global Parameter_UserParam89337 Parameter_UserParam8:9338 0084 00 .skip 1,09339 .global Parameter_ServoNickControl9340 .data9343 Parameter_ServoNickControl:9344 0031 64 .byte 1009345 .global Parameter_LoopGasLimit9348 Parameter_LoopGasLimit:9349 0032 46 .byte 709350 .global Parameter_AchsKopplung19353 Parameter_AchsKopplung1:9354 0033 5A .byte 909355 .global Parameter_AchsKopplung29358 Parameter_AchsKopplung2:9359 0034 41 .byte 659360 .global Parameter_CouplingYawCorrection9363 Parameter_CouplingYawCorrection:9364 0035 40 .byte 649365 .global Parameter_DynamicStability9368 Parameter_DynamicStability:9369 0036 64 .byte 1009370 .global ExternStickNick9371 .global ExternStickNick9372 .section .bss9375 ExternStickNick:9376 0085 0000 .skip 2,09377 .global ExternStickRoll9378 .global ExternStickRoll9381 ExternStickRoll:9382 0087 0000 .skip 2,09383 .global ExternStickGier9384 .global ExternStickGier9387 ExternStickGier:9388 0089 0000 .skip 2,09389 .global ExternHoehenValue9390 .data9393 ExternHoehenValue:9394 0037 ECFF .word -209395 .global MaxStickNick9396 .global MaxStickNick9397 .section .bss9400 MaxStickNick:9401 008b 0000 .skip 2,09402 .global MaxStickRoll9403 .global MaxStickRoll9406 MaxStickRoll:9407 008d 0000 .skip 2,09408 .global modell_fliegt9409 .global modell_fliegt9412 modell_fliegt:9413 008f 0000 .skip 2,09414 .global MikroKopterFlags9415 .global MikroKopterFlags9418 MikroKopterFlags:9419 0091 00 .skip 1,09420 .global GIER_GRAD_FAKTOR9421 .data9424 GIER_GRAD_FAKTOR:9425 0039 0B .byte 119426 003a 05 .byte 59427 003b 00 .byte 09428 003c 00 .byte 09431 delay.3112:9432 003d 64 .byte 1009433 .lcomm MittelIntegralRoll_Alt.3105,49434 .lcomm MittelIntegralNick_Alt.3104,49435 .lcomm last_r_n.3103,19436 .lcomm last_r_p.3102,19437 .lcomm last_n_n.3101,19438 .lcomm last_n_p.3100,19439 .lcomm cnt.3099,29440 .lcomm stick_roll.3096,29441 .lcomm stick_nick.3095,29442 .lcomm ausgleichRoll.3090,49443 .lcomm ausgleichNick.3089,49444 .lcomm NeueKompassRichtungMerken.3088,19445 .lcomm TimerWerteausgabe.3087,19446 .lcomm motorwert4.3082,29447 .lcomm motorwert3.3081,29448 .lcomm motorwert2.3080,29449 .lcomm motorwert1.3079,29450 .lcomm hoehenregler.3078,29451 .lcomm delay_ausschalten.3077,19452 .lcomm delay_einschalten.3076,19453 .lcomm delay_neutral.3075,19454 .lcomm RcLostTimer.3074,29455 .lcomm IntegralFehlerRoll.3073,49456 .lcomm IntegralFehlerNick.3072,49457 .lcomm tmp_long2.3071,49458 .lcomm tmp_long.3070,49459 .lcomm sollGier.3069,49460 .lcomm SummeRoll.3068,49461 .lcomm SummeNick.3067,49462 .lcomm d2Nick.2659,29463 .lcomm d2Roll.2658,29464 .lcomm oldRoll.2657,29465 .lcomm oldNick.2656,29466 .lcomm tmpl4.2655,49467 .lcomm tmpl3.2654,49468 .lcomm tmpl2.2653,49469 .lcomm tmpl.2652,49470 .comm TrimNick,2,19471 .comm TrimRoll,2,19472 .comm ErsatzKompass,4,19473 .comm ErsatzKompassInGrad,2,19474 .comm MesswertNick,2,19475 .comm MesswertRoll,2,19476 .comm MesswertGier,2,19477 .comm Mittelwert_AccNick,2,19478 .comm Mittelwert_AccRoll,2,19479 .comm Mittelwert_AccHoch,2,19480 .comm NaviAccNick,2,19481 .comm NaviAccRoll,2,19482 .comm h,1,19483 .comm m,1,19484 .comm s,1,19485 .comm DiffNick,2,19486 .comm DiffRoll,2,19487 .comm Motor_Vorne,1,19488 .comm Motor_Hinten,1,19489 .comm Motor_Rechts,1,19490 .comm Motor_Links,1,19491 .comm Motor1,1,19492 .comm Motor2,1,19493 .comm Motor3,1,19494 .comm Motor4,1,19495 .comm Motor5,1,19496 .comm Motor6,1,19497 .comm Motor7,1,19498 .comm Motor8,1,19499 .comm EE_Parameter,93,19500 .comm Parameter_J16Bitmask,1,19501 .comm Parameter_J16Timing,1,19502 .comm Parameter_J17Bitmask,1,19503 .comm Parameter_J17Timing,1,19504 .comm Parameter_NaviGpsModeControl,1,19505 .comm MesswertGierBias,2,19506 .comm RohMesswertNick,2,19507 .comm RohMesswertRoll,2,19508 .comm AdNeutralGierBias,2,19509 .comm MittelIntegralNick,4,19510 .comm MittelIntegralRoll,4,19511 .comm MittelIntegralNick2,4,19512 .comm MittelIntegralRoll2,4,19513 .comm MAX_GAS,1,19514 .comm MIN_GAS,1,19515 .comm GyroFaktor,1,19516 .comm IntegralFaktor,1,19517 .comm Parameter_NaviGpsGain,1,19518 .comm Parameter_NaviGpsP,1,19519 .comm Parameter_NaviGpsI,1,19520 .comm Parameter_NaviGpsD,1,19521 .comm Parameter_NaviGpsACC,1,19522 .comm Parameter_NaviOperatingRadius,1,19523 .comm Parameter_NaviWindCorrection,1,19524 .comm Parameter_NaviSpeedCompensation,1,19525 .comm Parameter_ExternalControl,1,19526 .comm KopplungsteilNickRoll,2,19527 .comm KopplungsteilRollNick,2,19528 /* File "fc.c": code 10960 = 0x2ad0 (10819), prologues 67, epilogues 74 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:2 *ABS*:0000003f __SREG__C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3 *ABS*:0000003e __SP_H__C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:4 *ABS*:0000003d __SP_L__C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:5 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:6 *ABS*:00000001 __zero_reg__C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:12 .text:00000000 DefaultStickMapping*COM*:0000005d EE_ParameterC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:38 .text:00000032 MotorSmoothingC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:72 .text:0000005e MittelwertC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8905 .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\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8983 .bss:00000026 IntegralAccNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8989 .bss:0000002a IntegralAccRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8935 .bss:0000000e NaviCntAccC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8941 .bss:00000010 NeutralAccZC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8995 .bss:0000002e IntegralAccZC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9019 .bss:0000003e Mess_IntegralRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9007 .bss:00000036 Mess_IntegralNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9031 .bss:00000046 Mess_Integral_Gier*COM*:00000004 ErsatzKompassC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9207 .bss:00000077 Looping_NickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9213 .bss:00000078 Looping_Roll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 KopplungsteilNickRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9467 .bss:000000e9 tmpl2.2653C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9468 .bss:000000ed tmpl.2652C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9363 .data:00000035 Parameter_CouplingYawCorrection*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9424 .data:00000039 GIER_GRAD_FAKTORC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9025 .bss:00000042 Mess_IntegralRoll2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9188 .bss:00000073 LageKorrekturRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9100 .data:00000021 Umschlag180RollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9013 .bss:0000003a Mess_IntegralNick2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9194 .bss:00000075 LageKorrekturNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9092 .data:0000001d Umschlag180NickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9001 .bss:00000032 Integral_GierC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8959 .bss:00000016 IntegralNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8971 .bss:0000001e IntegralRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8965 .bss:0000001a IntegralNick2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8977 .bss:00000022 IntegralRoll2*COM*:00000002 MesswertNick*COM*:00000002 MesswertRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9268 .data:0000002c Parameter_Gyro_DC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9464 .bss:000000df oldNick.2656C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9461 .bss:000000d9 d2Nick.2659C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9463 .bss:000000dd oldRoll.2657C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9462 .bss:000000db d2Roll.2658C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9116 .bss:0000005d Poti1C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9122 .bss:0000005f Poti2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9128 .bss:00000061 Poti3C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9134 .bss:00000063 Poti4C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9358 .data:00000034 Parameter_AchsKopplung2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9466 .bss:000000e5 tmpl3.2654C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9465 .bss:000000e1 tmpl4.2655C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9353 .data:00000033 Parameter_AchsKopplung1C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9086 .bss:0000005a TrichterFlugC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:1855 .text:00001174 ParameterZuordnungC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9248 .data:00000028 Parameter_MaxHoeheC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9243 .data:00000027 Parameter_Luftdruck_DC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9253 .data:00000029 Parameter_Hoehe_PC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9258 .data:0000002a Parameter_Hoehe_ACC_WirkungC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9263 .data:0000002b Parameter_KompassWirkungC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9273 .data:0000002d Parameter_Gyro_PC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9278 .data:0000002e Parameter_Gyro_IC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9288 .data:00000030 Parameter_I_FaktorC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9295 .bss:0000007d Parameter_UserParam1C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9301 .bss:0000007e Parameter_UserParam2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9307 .bss:0000007f Parameter_UserParam3C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9313 .bss:00000080 Parameter_UserParam4C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9319 .bss:00000081 Parameter_UserParam5C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9325 .bss:00000082 Parameter_UserParam6C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9331 .bss:00000083 Parameter_UserParam7C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9337 .bss:00000084 Parameter_UserParam8C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9343 .data:00000031 Parameter_ServoNickControlC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9348 .data:00000032 Parameter_LoopGasLimitC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9368 .data:00000036 Parameter_DynamicStability*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_ExternalControlC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9200 .data:00000025 Ki*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:2781 .text:000019b8 SendMotorDataC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9170 .bss:0000006e MotorenEin*COM*:00000001 Motor_Hinten*COM*:00000001 Motor_Vorne*COM*:00000001 Motor_Rechts*COM*:00000001 Motor_LinksC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9418 .bss:00000091 MikroKopterFlagsC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:2849 .text:00001a60 CalibrierMittelwertC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3163 .text:00001d3c SetNeutralC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8923 .bss:0000000a NeutralAccXC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8929 .bss:0000000c NeutralAccYC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8893 .bss:00000000 AdNeutralNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8899 .bss:00000002 AdNeutralRoll*COM*:00000002 AdNeutralGierBiasC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8911 .bss:00000006 StartNeutralRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8917 .bss:00000008 StartNeutralNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9043 .bss:0000004e Mess_Integral_HochC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9049 .bss:00000052 KompassValueC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9055 .bss:00000054 KompassStartwertC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9393 .data:00000037 ExternHoehenValueC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9110 .bss:0000005b GierGyroFehlerC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9140 .bss:00000065 SenderOkayC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3644 .text:00002236 PiepC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3684 .text:0000226e DefaultKonstanten3C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3806 .text:000023cc DefaultKonstanten2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:3930 .text:0000252e DefaultKonstanten1C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:4047 .text:0000268c MotorReglerC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9164 .bss:0000006c StickGasC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9453 .bss:000000bb RcLostTimer.3074C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9412 .bss:0000008f modell_fliegtC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9074 .bss:00000058 NotlandungC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9158 .bss:0000006a StickGierC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9146 .bss:00000066 StickNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9152 .bss:00000068 StickRoll*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9433 .bss:00000096 MittelIntegralNick_Alt.3104.bss:00000092 MittelIntegralRoll_Alt.3105C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9067 .data:0000001b KompassSignalSchlechtC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9443 .bss:000000ac NeueKompassRichtungMerken.3088C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9458 .bss:000000cd sollGier.3069C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9406 .bss:0000008d MaxStickRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9400 .bss:0000008b MaxStickNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9452 .bss:000000ba delay_neutral.3075C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9451 .bss:000000b9 delay_einschalten.3076C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9450 .bss:000000b8 delay_ausschalten.3077C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9440 .bss:000000a2 stick_nick.3095C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9439 .bss:000000a0 stick_roll.3096C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9219 .bss:00000079 Looping_LinksC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9225 .bss:0000007a Looping_RechtsC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9237 .bss:0000007c Looping_ObenC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9231 .bss:0000007b Looping_UntenC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9444 .bss:000000ad TimerWerteausgabe.3087C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9459 .bss:000000d1 SummeRoll.3068C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9460 .bss:000000d5 SummeNick.3067C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9431 .data:0000003d delay.3112C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9176 .bss:0000006f HoehenWertC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9449 .bss:000000b6 hoehenregler.3078*COM*:00000002 DiffNick*COM*:00000002 DiffRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9448 .bss:000000b4 motorwert1.3079C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9447 .bss:000000b2 motorwert2.3080C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9446 .bss:000000b0 motorwert3.3081C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9445 .bss:000000ae motorwert4.3082C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9182 .bss:00000071 SollHoeheC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9080 .bss:00000059 HoehenReglerAktivC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9442 .bss:000000a8 ausgleichNick.3089C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9457 .bss:000000c9 tmp_long.3070C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9456 .bss:000000c5 tmp_long2.3071C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9455 .bss:000000c1 IntegralFehlerNick.3072C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9454 .bss:000000bd IntegralFehlerRoll.3073C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9438 .bss:0000009e cnt.3099C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9441 .bss:000000a4 ausgleichRoll.3090C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9037 .bss:0000004a Mess_Integral_Gier2C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9435 .bss:0000009b last_r_p.3102C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9434 .bss:0000009a last_r_n.3103C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9437 .bss:0000009d last_n_p.3100C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9436 .bss:0000009c last_n_n.3101C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8886 .data:00000019 I2CTimeoutC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8947 .bss:00000014 CosinusNickWinkelC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:8953 .bss:00000015 CosinusRollWinkelC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9061 .bss:00000056 KompassRichtungC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9283 .data:0000002f Parameter_Gier_PC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9375 .bss:00000085 ExternStickNickC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9381 .bss:00000087 ExternStickRollC:\DOKUME~1\DPeters\LOKALE~1\Temp/ccmyRWWq.s:9387 .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*:00000001 Parameter_NaviGpsModeControl*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