Subversion Repositories FlightCtrl

   1                            .file   "timer0.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __tmp_reg__ = 0
   6                    __zero_reg__ = 1
   7                            .global __do_copy_data
   8                            .global __do_clear_bss
   9                            .text
  10                    .global __vector_18
  12                    __vector_18:
  13                    /* prologue: frame size=0 */
  14 0000 1F92                  push __zero_reg__
  15 0002 0F92                  push __tmp_reg__
  16 0004 0FB6                  in __tmp_reg__,__SREG__
  17 0006 0F92                  push __tmp_reg__
  18 0008 1124                  clr __zero_reg__
  19 000a 2F93                  push r18
  20 000c 3F93                  push r19
  21 000e 5F93                  push r21
  22 0010 6F93                  push r22
  23 0012 7F93                  push r23
  24 0014 8F93                  push r24
  25 0016 9F93                  push r25
  26 0018 AF93                  push r26
  27 001a BF93                  push r27
  28                    /* prologue end (size=14) */
  29 001c 8091 0000             lds r24,SendSPI
  30 0020 8823                  tst r24
  31 0022 01F0                  breq .L2
  32 0024 8091 0000             lds r24,SendSPI
  33 0028 8150                  subi r24,lo8(-(-1))
  34 002a 8093 0000             sts SendSPI,r24
  35                    .L2:
  36 002e 8091 0000             lds r24,cnt.2378
  37 0032 8150                  subi r24,lo8(-(-1))
  38 0034 8093 0000             sts cnt.2378,r24
  39 0038 8F3F                  cpi r24,lo8(-1)
  40 003a 01F4                  brne .+2
  41 003c 00C0                  rjmp .L30
  42                    .L4:
  43 003e 8091 0000             lds r24,beeptime
  44 0042 9091 0000             lds r25,(beeptime)+1
  45 0046 0297                  sbiw r24,2
  46 0048 00F0                  brlo .L8
  47 004a 8091 0000             lds r24,beeptime
  48 004e 9091 0000             lds r25,(beeptime)+1
  49 0052 0197                  sbiw r24,1
  50 0054 9093 0000             sts (beeptime)+1,r25
  51 0058 8093 0000             sts beeptime,r24
  52 005c 8091 0000             lds r24,beeptime
  53 0060 9091 0000             lds r25,(beeptime)+1
  54 0064 2091 0000             lds r18,BeepMuster
  55 0068 3091 0000             lds r19,(BeepMuster)+1
  56 006c 8223                  and r24,r18
  57 006e 9323                  and r25,r19
  58 0070 892B                  or r24,r25
  59 0072 01F0                  breq .L11
  60 0074 8091 0000             lds r24,PlatinenVersion
  61 0078 8A30                  cpi r24,lo8(10)
  62 007a 01F4                  brne .+2
  63 007c 00C0                  rjmp .L31
  64 007e 479A                  sbi 40-0x20,7
  65 0080 00C0                  rjmp .L15
  66                    .L8:
  67 0082 8FEF                  ldi r24,lo8(-1)
  68 0084 9FEF                  ldi r25,hi8(-1)
  69 0086 9093 0000             sts (BeepMuster)+1,r25
  70 008a 8093 0000             sts BeepMuster,r24
  71                    .L11:
  72 008e 8091 0000             lds r24,PlatinenVersion
  73 0092 8A30                  cpi r24,lo8(10)
  74 0094 01F4                  brne .+2
  75 0096 00C0                  rjmp .L32
  76 0098 4798                  cbi 40-0x20,7
  77                    .L15:
  78 009a 8091 0000             lds r24,EE_Parameter+8
  79 009e 83FF                  sbrs r24,3
  80 00a0 00C0                  rjmp .L26
  81 00a2 349B                  sbis 38-0x20,4
  82 00a4 00C0                  rjmp .L19
  83 00a6 8091 0000             lds r24,cntKompass
  84 00aa 9091 0000             lds r25,(cntKompass)+1
  85 00ae 0196                  adiw r24,1
  86 00b0 9093 0000             sts (cntKompass)+1,r25
  87 00b4 8093 0000             sts cntKompass,r24
  88 00b8 00C0                  rjmp .L26
  89                    .L19:
  90 00ba 8091 0000             lds r24,cntKompass
  91 00be 9091 0000             lds r25,(cntKompass)+1
  92 00c2 892B                  or r24,r25
  93 00c4 01F0                  breq .L21
  94 00c6 8091 0000             lds r24,cntKompass
  95 00ca 9091 0000             lds r25,(cntKompass)+1
  96 00ce 8A56                  subi r24,lo8(362)
  97 00d0 9140                  sbci r25,hi8(362)
  98 00d2 00F4                  brsh .L21
  99 00d4 8091 0000             lds r24,cntKompass
 100 00d8 9091 0000             lds r25,(cntKompass)+1
 101 00dc 2091 0000             lds r18,cntKompass
 102 00e0 3091 0000             lds r19,(cntKompass)+1
 103 00e4 69E2                  ldi r22,lo8(41)
 104 00e6 70E0                  ldi r23,hi8(41)
 105 00e8 0E94 0000             call __udivmodhi4
 106 00ec 260F                  add r18,r22
 107 00ee 371F                  adc r19,r23
 108 00f0 3093 0000             sts (cntKompass)+1,r19
 109 00f4 2093 0000             sts cntKompass,r18
 110 00f8 8091 0000             lds r24,cntKompass
 111 00fc 9091 0000             lds r25,(cntKompass)+1
 112 0100 0B97                  sbiw r24,11
 113 0102 00F4                  brsh .+2
 114 0104 00C0                  rjmp .L24
 115 0106 8091 0000             lds r24,cntKompass
 116 010a 9091 0000             lds r25,(cntKompass)+1
 117 010e 0A97                  sbiw r24,10
 118 0110 9093 0000             sts (KompassValue)+1,r25
 119 0114 8093 0000             sts KompassValue,r24
 120                    .L21:
 121 0118 8091 0000             lds r24,KompassValue
 122 011c 9091 0000             lds r25,(KompassValue)+1
 123 0120 845E                  subi r24,lo8(-(540))
 124 0122 9D4F                  sbci r25,hi8(-(540))
 125 0124 2091 0000             lds r18,KompassStartwert
 126 0128 3091 0000             lds r19,(KompassStartwert)+1
 127 012c 821B                  sub r24,r18
 128 012e 930B                  sbc r25,r19
 129 0130 68E6                  ldi r22,lo8(360)
 130 0132 71E0                  ldi r23,hi8(360)
 131 0134 0E94 0000             call __divmodhi4
 132 0138 845B                  subi r24,lo8(-(-180))
 133 013a 9040                  sbci r25,hi8(-(-180))
 134 013c 9093 0000             sts (KompassRichtung)+1,r25
 135 0140 8093 0000             sts KompassRichtung,r24
 136 0144 1092 0000             sts (cntKompass)+1,__zero_reg__
 137 0148 1092 0000             sts cntKompass,__zero_reg__
 138 014c 00C0                  rjmp .L26
 139                    .L30:
 140 014e 89E0                  ldi r24,lo8(9)
 141 0150 8093 0000             sts cnt.2378,r24
 142 0154 8091 0000             lds r24,cnt_1ms.2377
 143 0158 8F5F                  subi r24,lo8(-(1))
 144 015a 8170                  andi r24,lo8(1)
 145 015c 8093 0000             sts cnt_1ms.2377,r24
 146 0160 8823                  tst r24
 147 0162 01F4                  brne .L6
 148 0164 81E0                  ldi r24,lo8(1)
 149 0166 8093 0000             sts UpdateMotor,r24
 150                    .L6:
 151 016a 8091 0000             lds r24,CountMilliseconds
 152 016e 9091 0000             lds r25,(CountMilliseconds)+1
 153 0172 0196                  adiw r24,1
 154 0174 9093 0000             sts (CountMilliseconds)+1,r25
 155 0178 8093 0000             sts CountMilliseconds,r24
 156 017c 00C0                  rjmp .L4
 157                    .L32:
 158 017e 5A98                  cbi 43-0x20,2
 159 0180 00C0                  rjmp .L15
 160                    .L31:
 161 0182 5A9A                  sbi 43-0x20,2
 162 0184 00C0                  rjmp .L15
 163                    .L24:
 164 0186 1092 0000             sts (KompassValue)+1,__zero_reg__
 165 018a 1092 0000             sts KompassValue,__zero_reg__
 166 018e 00C0                  rjmp .L21
 167                    .L26:
 168                    /* epilogue: frame size=0 */
 169 0190 BF91                  pop r27
 170 0192 AF91                  pop r26
 171 0194 9F91                  pop r25
 172 0196 8F91                  pop r24
 173 0198 7F91                  pop r23
 174 019a 6F91                  pop r22
 175 019c 5F91                  pop r21
 176 019e 3F91                  pop r19
 177 01a0 2F91                  pop r18
 178 01a2 0F90                  pop __tmp_reg__
 179 01a4 0FBE                  out __SREG__,__tmp_reg__
 180 01a6 0F90                  pop __tmp_reg__
 181 01a8 1F90                  pop __zero_reg__
 182 01aa 1895                  reti
 183                    /* epilogue end (size=14) */
 184                    /* function __vector_18 size 217 (189) */
 186                    .global SetDelay
 188                    SetDelay:
 189                    /* prologue: frame size=0 */
 190                    /* prologue end (size=0) */
 191 01ac 2091 0000             lds r18,CountMilliseconds
 192 01b0 3091 0000             lds r19,(CountMilliseconds)+1
 193 01b4 2F5F                  subi r18,lo8(-(1))
 194 01b6 3F4F                  sbci r19,hi8(-(1))
 195 01b8 820F                  add r24,r18
 196 01ba 931F                  adc r25,r19
 197                    /* epilogue: frame size=0 */
 198 01bc 0895                  ret
 199                    /* epilogue end (size=1) */
 200                    /* function SetDelay size 9 (8) */
 202                    .global CheckDelay
 204                    CheckDelay:
 205                    /* prologue: frame size=0 */
 206                    /* prologue end (size=0) */
 207 01be 2091 0000             lds r18,CountMilliseconds
 208 01c2 3091 0000             lds r19,(CountMilliseconds)+1
 209 01c6 821B                  sub r24,r18
 210 01c8 930B                  sbc r25,r19
 211 01ca 892F                  mov r24,r25
 212 01cc 9927                  clr r25
 213 01ce 8695                  lsr r24
 214 01d0 8074                  andi r24,lo8(64)
 215 01d2 90E0                  ldi r25,lo8(0)
 216                    /* epilogue: frame size=0 */
 217 01d4 0895                  ret
 218                    /* epilogue end (size=1) */
 219                    /* function CheckDelay size 12 (11) */
 221                    .global Delay_ms
 223                    Delay_ms:
 224                    /* prologue: frame size=0 */
 225 01d6 CF93                  push r28
 226 01d8 DF93                  push r29
 227                    /* prologue end (size=2) */
 228 01da 0E94 0000             call SetDelay
 229 01de EC01                  movw r28,r24
 230                    .L38:
 231 01e0 CE01                  movw r24,r28
 232 01e2 0E94 0000             call CheckDelay
 233 01e6 8823                  tst r24
 234 01e8 01F0                  breq .L38
 235                    /* epilogue: frame size=0 */
 236 01ea DF91                  pop r29
 237 01ec CF91                  pop r28
 238 01ee 0895                  ret
 239                    /* epilogue end (size=3) */
 240                    /* function Delay_ms size 13 (8) */
 242                    .global Delay_ms_Mess
 244                    Delay_ms_Mess:
 245                    /* prologue: frame size=0 */
 246 01f0 CF93                  push r28
 247 01f2 DF93                  push r29
 248                    /* prologue end (size=2) */
 249 01f4 0E94 0000             call SetDelay
 250 01f8 EC01                  movw r28,r24
 251 01fa 00C0                  rjmp .L52
 252                    .L45:
 253 01fc 8091 0000             lds r24,AdReady
 254 0200 8823                  tst r24
 255 0202 01F0                  breq .L52
 256 0204 1092 0000             sts AdReady,__zero_reg__
 257 0208 8FEC                  ldi r24,lo8(-49)
 258 020a 8093 7A00             sts 122,r24
 259                    .L52:
 260 020e CE01                  movw r24,r28
 261 0210 0E94 0000             call CheckDelay
 262 0214 8823                  tst r24
 263 0216 01F0                  breq .L45
 264                    /* epilogue: frame size=0 */
 265 0218 DF91                  pop r29
 266 021a CF91                  pop r28
 267 021c 0895                  ret
 268                    /* epilogue end (size=3) */
 269                    /* function Delay_ms_Mess size 23 (18) */
 271                    .global TIMER2_Init
 273                    TIMER2_Init:
 274                    /* prologue: frame size=0 */
 275                    /* prologue end (size=0) */
 276 021e 9FB7                  in r25,95-0x20
 277                    /* #APP */
 278 0220 F894                  cli
 279                    /* #NOAPP */
 280 0222 579A                  sbi 42-0x20,7
 281 0224 5F98                  cbi 43-0x20,7
 282 0226 3E9A                  sbi 39-0x20,6
 283 0228 469A                  sbi 40-0x20,6
 284 022a A0EB                  ldi r26,lo8(176)
 285 022c B0E0                  ldi r27,hi8(176)
 286 022e 8C91                  ld r24,X
 287 0230 8F70                  andi r24,lo8(15)
 288 0232 8C93                  st X,r24
 289 0234 8C91                  ld r24,X
 290 0236 8360                  ori r24,lo8(3)
 291 0238 8C93                  st X,r24
 292 023a E1EB                  ldi r30,lo8(177)
 293 023c F0E0                  ldi r31,hi8(177)
 294 023e 8081                  ld r24,Z
 295 0240 8B73                  andi r24,lo8(59)
 296 0242 8083                  st Z,r24
 297 0244 8081                  ld r24,Z
 298 0246 8B60                  ori r24,lo8(11)
 299 0248 8083                  st Z,r24
 300 024a 1092 B200             sts 178,__zero_reg__
 301 024e 8FEF                  ldi r24,lo8(-1)
 302 0250 8093 B300             sts 179,r24
 303 0254 8C91                  ld r24,X
 304 0256 8068                  ori r24,lo8(-128)
 305 0258 8C93                  st X,r24
 306 025a E0E7                  ldi r30,lo8(112)
 307 025c F0E0                  ldi r31,hi8(112)
 308 025e 8081                  ld r24,Z
 309 0260 8A7F                  andi r24,lo8(-6)
 310 0262 8083                  st Z,r24
 311 0264 8081                  ld r24,Z
 312 0266 8260                  ori r24,lo8(2)
 313 0268 8083                  st Z,r24
 314 026a 9FBF                  out 95-0x20,r25
 315                    /* epilogue: frame size=0 */
 316 026c 0895                  ret
 317                    /* epilogue end (size=1) */
 318                    /* function TIMER2_Init size 41 (40) */
 320                    .global Timer_Init
 322                    Timer_Init:
 323                    /* prologue: frame size=0 */
 324                    /* prologue end (size=0) */
 325 026e 8AE0                  ldi r24,lo8(10)
 326 0270 90E0                  ldi r25,hi8(10)
 327 0272 0E94 0000             call SetDelay
 328 0276 9093 0000             sts (tim_main)+1,r25
 329 027a 8093 0000             sts tim_main,r24
 330 027e 82E0                  ldi r24,lo8(2)
 331 0280 85BD                  out 69-0x20,r24
 332 0282 83EA                  ldi r24,lo8(-93)
 333 0284 84BD                  out 68-0x20,r24
 334 0286 17BC                  out 71-0x20,__zero_reg__
 335 0288 88E7                  ldi r24,lo8(120)
 336 028a 88BD                  out 72-0x20,r24
 337 028c 86E0                  ldi r24,lo8(6)
 338 028e 86BD                  out 70-0x20,r24
 339 0290 EEE6                  ldi r30,lo8(110)
 340 0292 F0E0                  ldi r31,hi8(110)
 341 0294 8081                  ld r24,Z
 342 0296 8160                  ori r24,lo8(1)
 343 0298 8083                  st Z,r24
 344                    /* epilogue: frame size=0 */
 345 029a 0895                  ret
 346                    /* epilogue end (size=1) */
 347                    /* function Timer_Init size 23 (22) */
 349                    .global __vector_9
 351                    __vector_9:
 352                    /* prologue: frame size=0 */
 353 029c 1F92                  push __zero_reg__
 354 029e 0F92                  push __tmp_reg__
 355 02a0 0FB6                  in __tmp_reg__,__SREG__
 356 02a2 0F92                  push __tmp_reg__
 357 02a4 1124                  clr __zero_reg__
 358 02a6 CF92                  push r12
 359 02a8 DF92                  push r13
 360 02aa EF92                  push r14
 361 02ac FF92                  push r15
 362 02ae 0F93                  push r16
 363 02b0 1F93                  push r17
 364 02b2 2F93                  push r18
 365 02b4 3F93                  push r19
 366 02b6 4F93                  push r20
 367 02b8 5F93                  push r21
 368 02ba 6F93                  push r22
 369 02bc 7F93                  push r23
 370 02be 8F93                  push r24
 371 02c0 9F93                  push r25
 372 02c2 AF93                  push r26
 373 02c4 BF93                  push r27
 374 02c6 EF93                  push r30
 375 02c8 FF93                  push r31
 376                    /* prologue end (size=23) */
 377 02ca 8091 0000             lds r24,PlatinenVersion
 378 02ce 8431                  cpi r24,lo8(20)
 379 02d0 00F4                  brsh .L58
 380 02d2 8091 0000             lds r24,PulseOutput.2520
 381 02d6 8823                  tst r24
 382 02d8 01F4                  brne .+2
 383 02da 00C0                  rjmp .L117
 384                    .L113:
 385 02dc 2091 0000             lds r18,RemainingPulse.2521
 386 02e0 3091 0000             lds r19,(RemainingPulse.2521)+1
 387                    .L60:
 388 02e4 41E0                  ldi r20,hi8(383)
 389 02e6 2F37                  cpi r18,lo8(383)
 390 02e8 3407                  cpc r19,r20
 391 02ea 00F0                  brlo .L104
 392 02ec 8FEF                  ldi r24,lo8(-1)
 393 02ee 8093 B300             sts 179,r24
 394 02f2 2F5F                  subi r18,lo8(-(-255))
 395 02f4 3040                  sbci r19,hi8(-(-255))
 396 02f6 3093 0000             sts (RemainingPulse.2521)+1,r19
 397 02fa 2093 0000             sts RemainingPulse.2521,r18
 398 02fe 00C0                  rjmp .L111
 399                    .L58:
 400 0300 8091 0000             lds r24,PulseOutput.2520
 401 0304 8823                  tst r24
 402 0306 01F4                  brne .L113
 403 0308 8091 B000             lds r24,176
 404 030c 86FF                  sbrs r24,6
 405 030e 00C0                  rjmp .L79
 406 0310 8091 B000             lds r24,176
 407 0314 8F7B                  andi r24,lo8(-65)
 408 0316 8093 B000             sts 176,r24
 409 031a E091 0000             lds r30,ServoIndex.2523
 410 031e EE23                  tst r30
 411 0320 01F0                  breq .+2
 412 0322 00C0                  rjmp .L81
 413 0324 8091 0000             lds r24,EE_Parameter+38
 414 0328 90E0                  ldi r25,lo8(0)
 415 032a 2DED                  ldi r18,lo8(1757)
 416 032c 36E0                  ldi r19,hi8(1757)
 417 032e A901                  movw r20,r18
 418 0330 849F                  mul r24,r20
 419 0332 9001                  movw r18,r0
 420 0334 859F                  mul r24,r21
 421 0336 300D                  add r19,r0
 422 0338 949F                  mul r25,r20
 423 033a 300D                  add r19,r0
 424 033c 1124                  clr r1
 425 033e 8091 0000             lds r24,ServoFrameTime.2522
 426 0342 9091 0000             lds r25,(ServoFrameTime.2522)+1
 427 0346 281B                  sub r18,r24
 428 0348 390B                  sbc r19,r25
 429 034a 3093 0000             sts (RemainingPulse.2521)+1,r19
 430 034e 2093 0000             sts RemainingPulse.2521,r18
 431 0352 1092 0000             sts (ServoFrameTime.2522)+1,__zero_reg__
 432 0356 1092 0000             sts ServoFrameTime.2522,__zero_reg__
 433 035a 469A                  sbi 40-0x20,6
 434 035c 00C0                  rjmp .L83
 435                    .L104:
 436 035e 2F3F                  cpi r18,255
 437 0360 3105                  cpc r19,__zero_reg__
 438 0362 01F0                  breq .L107
 439 0364 00F0                  brlo .L107
 440 0366 51E0                  ldi r21,hi8(382)
 441 0368 2E37                  cpi r18,lo8(382)
 442 036a 3507                  cpc r19,r21
 443 036c 01F4                  brne .+2
 444 036e 00C0                  rjmp .L109
 445 0370 80E8                  ldi r24,lo8(-128)
 446 0372 8093 B300             sts 179,r24
 447 0376 2058                  subi r18,lo8(-(-128))
 448 0378 3040                  sbci r19,hi8(-(-128))
 449 037a 3093 0000             sts (RemainingPulse.2521)+1,r19
 450 037e 2093 0000             sts RemainingPulse.2521,r18
 451 0382 00C0                  rjmp .L111
 452                    .L107:
 453 0384 2093 B300             sts 179,r18
 454 0388 1092 0000             sts (RemainingPulse.2521)+1,__zero_reg__
 455 038c 1092 0000             sts RemainingPulse.2521,__zero_reg__
 456 0390 1092 0000             sts PulseOutput.2520,__zero_reg__
 457 0394 00C0                  rjmp .L111
 458                    .L117:
 459 0396 8091 B000             lds r24,176
 460 039a 86FF                  sbrs r24,6
 461 039c 00C0                  rjmp .L62
 462 039e 8091 B000             lds r24,176
 463 03a2 8F7B                  andi r24,lo8(-65)
 464 03a4 8093 B000             sts 176,r24
 465 03a8 8091 0000             lds r24,Parameter_ServoNickControl
 466 03ac 482F                  mov r20,r24
 467 03ae 50E0                  ldi r21,lo8(0)
 468 03b0 440F                  lsl r20
 469 03b2 551F                  rol r21
 470 03b4 440F                  lsl r20
 471 03b6 551F                  rol r21
 472 03b8 2091 0000             lds r18,ServoNickOffset.2524
 473 03bc 3091 0000             lds r19,(ServoNickOffset.2524)+1
 474 03c0 C901                  movw r24,r18
 475 03c2 880F                  lsl r24
 476 03c4 991F                  rol r25
 477 03c6 820F                  add r24,r18
 478 03c8 931F                  adc r25,r19
 479 03ca 480F                  add r20,r24
 480 03cc 591F                  adc r21,r25
 481 03ce 57FD                  sbrc r21,7
 482 03d0 00C0                  rjmp .L118
 483                    .L64:
 484 03d2 CA01                  movw r24,r20
 485 03d4 9595                  asr r25
 486 03d6 8795                  ror r24
 487 03d8 9595                  asr r25
 488 03da 8795                  ror r24
 489 03dc 9093 0000             sts (ServoNickOffset.2524)+1,r25
 490 03e0 8093 0000             sts ServoNickOffset.2524,r24
 491 03e4 9093 0000             sts (ServoNickValue)+1,r25
 492 03e8 8093 0000             sts ServoNickValue,r24
 493 03ec 8091 0000             lds r24,EE_Parameter+76
 494 03f0 80FF                  sbrs r24,0
 495 03f2 00C0                  rjmp .L65
 496 03f4 C090 0000             lds r12,ServoNickValue
 497 03f8 D090 0000             lds r13,(ServoNickValue)+1
 498 03fc E090 0000             lds r14,EE_Parameter+35
 499 0400 FF24                  clr r15
 500 0402 00E0                  ldi r16,lo8(0)
 501 0404 10E0                  ldi r17,hi8(0)
 502 0406 6091 0000             lds r22,IntegralNick
 503 040a 7091 0000             lds r23,(IntegralNick)+1
 504 040e 8091 0000             lds r24,(IntegralNick)+2
 505 0412 9091 0000             lds r25,(IntegralNick)+3
 506 0416 20E8                  ldi r18,lo8(128)
 507 0418 30E0                  ldi r19,hi8(128)
 508 041a 40E0                  ldi r20,hlo8(128)
 509 041c 50E0                  ldi r21,hhi8(128)
 510 041e 0E94 0000             call __divmodsi4
 511 0422 C801                  movw r24,r16
 512 0424 B701                  movw r22,r14
 513 0426 0E94 0000             call __mulsi3
 514 042a 660F                  lsl r22
 515 042c 771F                  rol r23
 516 042e 881F                  rol r24
 517 0430 991F                  rol r25
 518 0432 660F                  lsl r22
 519 0434 771F                  rol r23
 520 0436 881F                  rol r24
 521 0438 991F                  rol r25
 522 043a 20E0                  ldi r18,lo8(256)
 523 043c 31E0                  ldi r19,hi8(256)
 524 043e 40E0                  ldi r20,hlo8(256)
 525 0440 50E0                  ldi r21,hhi8(256)
 526 0442 0E94 0000             call __divmodsi4
 527 0446 C20E                  add r12,r18
 528 0448 D31E                  adc r13,r19
 529 044a D092 0000             sts (ServoNickValue)+1,r13
 530 044e C092 0000             sts ServoNickValue,r12
 531                    .L67:
 532 0452 8091 0000             lds r24,EE_Parameter+36
 533 0456 282F                  mov r18,r24
 534 0458 30E0                  ldi r19,lo8(0)
 535 045a 220F                  lsl r18
 536 045c 331F                  rol r19
 537 045e 220F                  lsl r18
 538 0460 331F                  rol r19
 539 0462 8091 0000             lds r24,ServoNickValue
 540 0466 9091 0000             lds r25,(ServoNickValue)+1
 541 046a 8217                  cp r24,r18
 542 046c 9307                  cpc r25,r19
 543 046e 04F4                  brge .+2
 544 0470 00C0                  rjmp .L115
 545 0472 8091 0000             lds r24,EE_Parameter+37
 546 0476 282F                  mov r18,r24
 547 0478 30E0                  ldi r19,lo8(0)
 548 047a 220F                  lsl r18
 549 047c 331F                  rol r19
 550 047e 220F                  lsl r18
 551 0480 331F                  rol r19
 552 0482 8091 0000             lds r24,ServoNickValue
 553 0486 9091 0000             lds r25,(ServoNickValue)+1
 554 048a 2817                  cp r18,r24
 555 048c 3907                  cpc r19,r25
 556 048e 04F4                  brge .+2
 557 0490 00C0                  rjmp .L115
 558                    .L70:
 559 0492 2091 0000             lds r18,ServoNickValue
 560 0496 3091 0000             lds r19,(ServoNickValue)+1
 561 049a 2755                  subi r18,lo8(-(425))
 562 049c 3E4F                  sbci r19,hi8(-(425))
 563 049e 3093 0000             sts (RemainingPulse.2521)+1,r19
 564 04a2 2093 0000             sts RemainingPulse.2521,r18
 565 04a6 8091 0000             lds r24,ServoNickValue
 566 04aa 9091 0000             lds r25,(ServoNickValue)+1
 567 04ae 97FD                  sbrc r25,7
 568 04b0 00C0                  rjmp .L119
 569                    .L72:
 570 04b2 9595                  asr r25
 571 04b4 8795                  ror r24
 572 04b6 9595                  asr r25
 573 04b8 8795                  ror r24
 574 04ba 9093 0000             sts (ServoNickValue)+1,r25
 575 04be 8093 0000             sts ServoNickValue,r24
 576 04c2 8091 0000             lds r24,ServoNickValue
 577 04c6 9091 0000             lds r25,(ServoNickValue)+1
 578 04ca 9093 0000             sts (DebugOut+42)+1,r25
 579 04ce 8093 0000             sts DebugOut+42,r24
 580 04d2 45E0                  ldi r20,hi8(1501)
 581 04d4 2D3D                  cpi r18,lo8(1501)
 582 04d6 3407                  cpc r19,r20
 583 04d8 00F4                  brsh .+2
 584 04da 00C0                  rjmp .L73
 585 04dc 2CED                  ldi r18,lo8(1500)
 586 04de 35E0                  ldi r19,hi8(1500)
 587 04e0 3093 0000             sts (RemainingPulse.2521)+1,r19
 588 04e4 2093 0000             sts RemainingPulse.2521,r18
 589                    .L75:
 590 04e8 2091 0000             lds r18,RemainingPulse.2521
 591 04ec 3091 0000             lds r19,(RemainingPulse.2521)+1
 592 04f0 3093 0000             sts (ServoFrameTime.2522)+1,r19
 593 04f4 2093 0000             sts ServoFrameTime.2522,r18
 594 04f8 00C0                  rjmp .L83
 595                    .L62:
 596 04fa 8091 B000             lds r24,176
 597 04fe 8064                  ori r24,lo8(64)
 598 0500 8093 B000             sts 176,r24
 599 0504 8091 0000             lds r24,EE_Parameter+38
 600 0508 90E0                  ldi r25,lo8(0)
 601 050a 2DED                  ldi r18,lo8(1757)
 602 050c 36E0                  ldi r19,hi8(1757)
 603 050e A901                  movw r20,r18
 604 0510 849F                  mul r24,r20
 605 0512 9001                  movw r18,r0
 606 0514 859F                  mul r24,r21
 607 0516 300D                  add r19,r0
 608 0518 949F                  mul r25,r20
 609 051a 300D                  add r19,r0
 610 051c 1124                  clr r1
 611 051e 8091 0000             lds r24,ServoFrameTime.2522
 612 0522 9091 0000             lds r25,(ServoFrameTime.2522)+1
 613 0526 281B                  sub r18,r24
 614 0528 390B                  sbc r19,r25
 615 052a 3093 0000             sts (RemainingPulse.2521)+1,r19
 616 052e 2093 0000             sts RemainingPulse.2521,r18
 617                    .L83:
 618 0532 81E0                  ldi r24,lo8(1)
 619 0534 8093 0000             sts PulseOutput.2520,r24
 620 0538 00C0                  rjmp .L60
 621                    .L79:
 622 053a 8091 B000             lds r24,176
 623 053e 8064                  ori r24,lo8(64)
 624 0540 8093 B000             sts 176,r24
 625 0544 2CEB                  ldi r18,lo8(188)
 626 0546 30E0                  ldi r19,hi8(188)
 627 0548 3093 0000             sts (RemainingPulse.2521)+1,r19
 628 054c 2093 0000             sts RemainingPulse.2521,r18
 629 0550 8091 0000             lds r24,ServoFrameTime.2522
 630 0554 9091 0000             lds r25,(ServoFrameTime.2522)+1
 631 0558 8454                  subi r24,lo8(-(188))
 632 055a 9F4F                  sbci r25,hi8(-(188))
 633 055c 9093 0000             sts (ServoFrameTime.2522)+1,r25
 634 0560 8093 0000             sts ServoFrameTime.2522,r24
 635 0564 8091 0000             lds r24,ServoActive
 636 0568 8823                  tst r24
 637 056a 01F0                  breq .L100
 638 056c 8091 0000             lds r24,SenderOkay
 639 0570 853B                  cpi r24,lo8(-75)
 640 0572 00F0                  brlo .+2
 641 0574 00C0                  rjmp .L120
 642                    .L100:
 643 0576 8091 0000             lds r24,ServoIndex.2523
 644 057a 8F5F                  subi r24,lo8(-(1))
 645 057c 8093 0000             sts ServoIndex.2523,r24
 646 0580 9091 0000             lds r25,EE_Parameter+38
 647 0584 9817                  cp r25,r24
 648 0586 00F0                  brlo .+2
 649 0588 00C0                  rjmp .L114
 650 058a 1092 0000             sts ServoIndex.2523,__zero_reg__
 651 058e 2091 0000             lds r18,RemainingPulse.2521
 652 0592 3091 0000             lds r19,(RemainingPulse.2521)+1
 653 0596 00C0                  rjmp .L83
 654                    .L109:
 655 0598 8FEF                  ldi r24,lo8(-1)
 656 059a 8093 B300             sts 179,r24
 657 059e 2FE7                  ldi r18,lo8(127)
 658 05a0 30E0                  ldi r19,hi8(127)
 659 05a2 3093 0000             sts (RemainingPulse.2521)+1,r19
 660 05a6 2093 0000             sts RemainingPulse.2521,r18
 661 05aa 00C0                  rjmp .L111
 662                    .L115:
 663 05ac 3093 0000             sts (ServoNickValue)+1,r19
 664 05b0 2093 0000             sts ServoNickValue,r18
 665 05b4 00C0                  rjmp .L70
 666                    .L81:
 667 05b6 29EA                  ldi r18,lo8(937)
 668 05b8 33E0                  ldi r19,hi8(937)
 669 05ba 3093 0000             sts (RemainingPulse.2521)+1,r19
 670 05be 2093 0000             sts RemainingPulse.2521,r18
 671 05c2 E130                  cpi r30,lo8(1)
 672 05c4 01F4                  brne .+2
 673 05c6 00C0                  rjmp .L121
 674 05c8 F0E0                  ldi r31,lo8(0)
 675 05ca EE0F                  lsl r30
 676 05cc FF1F                  rol r31
 677 05ce E050                  subi r30,lo8(-(PPM_in))
 678 05d0 F040                  sbci r31,hi8(-(PPM_in))
 679 05d2 8081                  ld r24,Z
 680 05d4 9181                  ldd r25,Z+1
 681 05d6 880F                  lsl r24
 682 05d8 991F                  rol r25
 683 05da 8755                  subi r24,lo8(-(937))
 684 05dc 9C4F                  sbci r25,hi8(-(937))
 685 05de 9093 0000             sts (RemainingPulse.2521)+1,r25
 686 05e2 8093 0000             sts RemainingPulse.2521,r24
 687                    .L95:
 688 05e6 2091 0000             lds r18,RemainingPulse.2521
 689 05ea 3091 0000             lds r19,(RemainingPulse.2521)+1
 690 05ee 55E0                  ldi r21,hi8(1501)
 691 05f0 2D3D                  cpi r18,lo8(1501)
 692 05f2 3507                  cpc r19,r21
 693 05f4 00F4                  brsh .+2
 694 05f6 00C0                  rjmp .L96
 695 05f8 2CED                  ldi r18,lo8(1500)
 696 05fa 35E0                  ldi r19,hi8(1500)
 697 05fc 3093 0000             sts (RemainingPulse.2521)+1,r19
 698 0600 2093 0000             sts RemainingPulse.2521,r18
 699                    .L98:
 700 0604 2C5B                  subi r18,lo8(-(-188))
 701 0606 3040                  sbci r19,hi8(-(-188))
 702 0608 3093 0000             sts (RemainingPulse.2521)+1,r19
 703 060c 2093 0000             sts RemainingPulse.2521,r18
 704 0610 8091 0000             lds r24,ServoFrameTime.2522
 705 0614 9091 0000             lds r25,(ServoFrameTime.2522)+1
 706 0618 820F                  add r24,r18
 707 061a 931F                  adc r25,r19
 708 061c 9093 0000             sts (ServoFrameTime.2522)+1,r25
 709 0620 8093 0000             sts ServoFrameTime.2522,r24
 710 0624 00C0                  rjmp .L83
 711                    .L73:
 712 0626 2757                  subi r18,lo8(375)
 713 0628 3140                  sbci r19,hi8(375)
 714 062a 00F0                  brlo .+2
 715 062c 00C0                  rjmp .L75
 716 062e 27E7                  ldi r18,lo8(375)
 717 0630 31E0                  ldi r19,hi8(375)
 718 0632 3093 0000             sts (RemainingPulse.2521)+1,r19
 719 0636 2093 0000             sts RemainingPulse.2521,r18
 720 063a 00C0                  rjmp .L75
 721                    .L65:
 722 063c C090 0000             lds r12,ServoNickValue
 723 0640 D090 0000             lds r13,(ServoNickValue)+1
 724 0644 E090 0000             lds r14,EE_Parameter+35
 725 0648 FF24                  clr r15
 726 064a 00E0                  ldi r16,lo8(0)
 727 064c 10E0                  ldi r17,hi8(0)
 728 064e 6091 0000             lds r22,IntegralNick
 729 0652 7091 0000             lds r23,(IntegralNick)+1
 730 0656 8091 0000             lds r24,(IntegralNick)+2
 731 065a 9091 0000             lds r25,(IntegralNick)+3
 732 065e 20E8                  ldi r18,lo8(128)
 733 0660 30E0                  ldi r19,hi8(128)
 734 0662 40E0                  ldi r20,hlo8(128)
 735 0664 50E0                  ldi r21,hhi8(128)
 736 0666 0E94 0000             call __divmodsi4
 737 066a C801                  movw r24,r16
 738 066c B701                  movw r22,r14
 739 066e 0E94 0000             call __mulsi3
 740 0672 660F                  lsl r22
 741 0674 771F                  rol r23
 742 0676 881F                  rol r24
 743 0678 991F                  rol r25
 744 067a 660F                  lsl r22
 745 067c 771F                  rol r23
 746 067e 881F                  rol r24
 747 0680 991F                  rol r25
 748 0682 20E0                  ldi r18,lo8(256)
 749 0684 31E0                  ldi r19,hi8(256)
 750 0686 40E0                  ldi r20,hlo8(256)
 751 0688 50E0                  ldi r21,hhi8(256)
 752 068a 0E94 0000             call __divmodsi4
 753 068e C21A                  sub r12,r18
 754 0690 D30A                  sbc r13,r19
 755 0692 D092 0000             sts (ServoNickValue)+1,r13
 756 0696 C092 0000             sts ServoNickValue,r12
 757 069a 00C0                  rjmp .L67
 758                    .L114:
 759 069c 2091 0000             lds r18,RemainingPulse.2521
 760 06a0 3091 0000             lds r19,(RemainingPulse.2521)+1
 761 06a4 00C0                  rjmp .L83
 762                    .L120:
 763 06a6 4698                  cbi 40-0x20,6
 764 06a8 00C0                  rjmp .L100
 765                    .L121:
 766 06aa 8091 0000             lds r24,Parameter_ServoNickControl
 767 06ae 482F                  mov r20,r24
 768 06b0 50E0                  ldi r21,lo8(0)
 769 06b2 440F                  lsl r20
 770 06b4 551F                  rol r21
 771 06b6 440F                  lsl r20
 772 06b8 551F                  rol r21
 773 06ba 2091 0000             lds r18,ServoNickOffset.2524
 774 06be 3091 0000             lds r19,(ServoNickOffset.2524)+1
 775 06c2 C901                  movw r24,r18
 776 06c4 880F                  lsl r24
 777 06c6 991F                  rol r25
 778 06c8 820F                  add r24,r18
 779 06ca 931F                  adc r25,r19
 780 06cc 480F                  add r20,r24
 781 06ce 591F                  adc r21,r25
 782 06d0 57FD                  sbrc r21,7
 783 06d2 00C0                  rjmp .L122
 784                    .L86:
 785 06d4 CA01                  movw r24,r20
 786 06d6 9595                  asr r25
 787 06d8 8795                  ror r24
 788 06da 9595                  asr r25
 789 06dc 8795                  ror r24
 790 06de 9093 0000             sts (ServoNickOffset.2524)+1,r25
 791 06e2 8093 0000             sts ServoNickOffset.2524,r24
 792 06e6 9093 0000             sts (ServoNickValue)+1,r25
 793 06ea 8093 0000             sts ServoNickValue,r24
 794 06ee 8091 0000             lds r24,EE_Parameter+76
 795 06f2 80FF                  sbrs r24,0
 796 06f4 00C0                  rjmp .L87
 797 06f6 C090 0000             lds r12,ServoNickValue
 798 06fa D090 0000             lds r13,(ServoNickValue)+1
 799 06fe E090 0000             lds r14,EE_Parameter+35
 800 0702 FF24                  clr r15
 801 0704 00E0                  ldi r16,lo8(0)
 802 0706 10E0                  ldi r17,hi8(0)
 803 0708 6091 0000             lds r22,IntegralNick
 804 070c 7091 0000             lds r23,(IntegralNick)+1
 805 0710 8091 0000             lds r24,(IntegralNick)+2
 806 0714 9091 0000             lds r25,(IntegralNick)+3
 807 0718 20E8                  ldi r18,lo8(128)
 808 071a 30E0                  ldi r19,hi8(128)
 809 071c 40E0                  ldi r20,hlo8(128)
 810 071e 50E0                  ldi r21,hhi8(128)
 811 0720 0E94 0000             call __divmodsi4
 812 0724 C801                  movw r24,r16
 813 0726 B701                  movw r22,r14
 814 0728 0E94 0000             call __mulsi3
 815 072c 660F                  lsl r22
 816 072e 771F                  rol r23
 817 0730 881F                  rol r24
 818 0732 991F                  rol r25
 819 0734 660F                  lsl r22
 820 0736 771F                  rol r23
 821 0738 881F                  rol r24
 822 073a 991F                  rol r25
 823 073c 20E0                  ldi r18,lo8(256)
 824 073e 31E0                  ldi r19,hi8(256)
 825 0740 40E0                  ldi r20,hlo8(256)
 826 0742 50E0                  ldi r21,hhi8(256)
 827 0744 0E94 0000             call __divmodsi4
 828 0748 C20E                  add r12,r18
 829 074a D31E                  adc r13,r19
 830 074c D092 0000             sts (ServoNickValue)+1,r13
 831 0750 C092 0000             sts ServoNickValue,r12
 832                    .L89:
 833 0754 8091 0000             lds r24,EE_Parameter+36
 834 0758 282F                  mov r18,r24
 835 075a 30E0                  ldi r19,lo8(0)
 836 075c 220F                  lsl r18
 837 075e 331F                  rol r19
 838 0760 220F                  lsl r18
 839 0762 331F                  rol r19
 840 0764 8091 0000             lds r24,ServoNickValue
 841 0768 9091 0000             lds r25,(ServoNickValue)+1
 842 076c 8217                  cp r24,r18
 843 076e 9307                  cpc r25,r19
 844 0770 04F0                  brlt .L116
 845 0772 8091 0000             lds r24,EE_Parameter+37
 846 0776 282F                  mov r18,r24
 847 0778 30E0                  ldi r19,lo8(0)
 848 077a 220F                  lsl r18
 849 077c 331F                  rol r19
 850 077e 220F                  lsl r18
 851 0780 331F                  rol r19
 852 0782 8091 0000             lds r24,ServoNickValue
 853 0786 9091 0000             lds r25,(ServoNickValue)+1
 854 078a 2817                  cp r18,r24
 855 078c 3907                  cpc r19,r25
 856 078e 04F4                  brge .L92
 857                    .L116:
 858 0790 3093 0000             sts (ServoNickValue)+1,r19
 859 0794 2093 0000             sts ServoNickValue,r18
 860                    .L92:
 861 0798 8091 0000             lds r24,ServoNickValue
 862 079c 9091 0000             lds r25,(ServoNickValue)+1
 863 07a0 8755                  subi r24,lo8(-(425))
 864 07a2 9E4F                  sbci r25,hi8(-(425))
 865 07a4 9093 0000             sts (RemainingPulse.2521)+1,r25
 866 07a8 8093 0000             sts RemainingPulse.2521,r24
 867 07ac 8091 0000             lds r24,ServoNickValue
 868 07b0 9091 0000             lds r25,(ServoNickValue)+1
 869 07b4 97FD                  sbrc r25,7
 870 07b6 00C0                  rjmp .L123
 871                    .L94:
 872 07b8 9595                  asr r25
 873 07ba 8795                  ror r24
 874 07bc 9595                  asr r25
 875 07be 8795                  ror r24
 876 07c0 9093 0000             sts (ServoNickValue)+1,r25
 877 07c4 8093 0000             sts ServoNickValue,r24
 878 07c8 8091 0000             lds r24,ServoNickValue
 879 07cc 9091 0000             lds r25,(ServoNickValue)+1
 880 07d0 9093 0000             sts (DebugOut+42)+1,r25
 881 07d4 8093 0000             sts DebugOut+42,r24
 882 07d8 00C0                  rjmp .L95
 883                    .L96:
 884 07da 81E0                  ldi r24,hi8(375)
 885 07dc 2737                  cpi r18,lo8(375)
 886 07de 3807                  cpc r19,r24
 887 07e0 00F0                  brlo .+2
 888 07e2 00C0                  rjmp .L98
 889 07e4 27E7                  ldi r18,lo8(375)
 890 07e6 31E0                  ldi r19,hi8(375)
 891 07e8 3093 0000             sts (RemainingPulse.2521)+1,r19
 892 07ec 2093 0000             sts RemainingPulse.2521,r18
 893 07f0 00C0                  rjmp .L98
 894                    .L118:
 895 07f2 4D5F                  subi r20,lo8(-(3))
 896 07f4 5F4F                  sbci r21,hi8(-(3))
 897 07f6 00C0                  rjmp .L64
 898                    .L119:
 899 07f8 0396                  adiw r24,3
 900 07fa 00C0                  rjmp .L72
 901                    .L87:
 902 07fc C090 0000             lds r12,ServoNickValue
 903 0800 D090 0000             lds r13,(ServoNickValue)+1
 904 0804 E090 0000             lds r14,EE_Parameter+35
 905 0808 FF24                  clr r15
 906 080a 00E0                  ldi r16,lo8(0)
 907 080c 10E0                  ldi r17,hi8(0)
 908 080e 6091 0000             lds r22,IntegralNick
 909 0812 7091 0000             lds r23,(IntegralNick)+1
 910 0816 8091 0000             lds r24,(IntegralNick)+2
 911 081a 9091 0000             lds r25,(IntegralNick)+3
 912 081e 20E8                  ldi r18,lo8(128)
 913 0820 30E0                  ldi r19,hi8(128)
 914 0822 40E0                  ldi r20,hlo8(128)
 915 0824 50E0                  ldi r21,hhi8(128)
 916 0826 0E94 0000             call __divmodsi4
 917 082a C801                  movw r24,r16
 918 082c B701                  movw r22,r14
 919 082e 0E94 0000             call __mulsi3
 920 0832 660F                  lsl r22
 921 0834 771F                  rol r23
 922 0836 881F                  rol r24
 923 0838 991F                  rol r25
 924 083a 660F                  lsl r22
 925 083c 771F                  rol r23
 926 083e 881F                  rol r24
 927 0840 991F                  rol r25
 928 0842 20E0                  ldi r18,lo8(256)
 929 0844 31E0                  ldi r19,hi8(256)
 930 0846 40E0                  ldi r20,hlo8(256)
 931 0848 50E0                  ldi r21,hhi8(256)
 932 084a 0E94 0000             call __divmodsi4
 933 084e C21A                  sub r12,r18
 934 0850 D30A                  sbc r13,r19
 935 0852 D092 0000             sts (ServoNickValue)+1,r13
 936 0856 C092 0000             sts ServoNickValue,r12
 937 085a 00C0                  rjmp .L89
 938                    .L123:
 939 085c 0396                  adiw r24,3
 940 085e 00C0                  rjmp .L94
 941                    .L122:
 942 0860 4D5F                  subi r20,lo8(-(3))
 943 0862 5F4F                  sbci r21,hi8(-(3))
 944 0864 00C0                  rjmp .L86
 945                    .L111:
 946                    /* epilogue: frame size=0 */
 947 0866 FF91                  pop r31
 948 0868 EF91                  pop r30
 949 086a BF91                  pop r27
 950 086c AF91                  pop r26
 951 086e 9F91                  pop r25
 952 0870 8F91                  pop r24
 953 0872 7F91                  pop r23
 954 0874 6F91                  pop r22
 955 0876 5F91                  pop r21
 956 0878 4F91                  pop r20
 957 087a 3F91                  pop r19
 958 087c 2F91                  pop r18
 959 087e 1F91                  pop r17
 960 0880 0F91                  pop r16
 961 0882 FF90                  pop r15
 962 0884 EF90                  pop r14
 963 0886 DF90                  pop r13
 964 0888 CF90                  pop r12
 965 088a 0F90                  pop __tmp_reg__
 966 088c 0FBE                  out __SREG__,__tmp_reg__
 967 088e 0F90                  pop __tmp_reg__
 968 0890 1F90                  pop __zero_reg__
 969 0892 1895                  reti
 970                    /* epilogue end (size=23) */
 971                    /* function __vector_9 size 765 (719) */
 973                    .global CountMilliseconds
 974                    .global CountMilliseconds
 975                            .section .bss
 978                    CountMilliseconds:
 979 0000 0000                  .skip 2,0
 980                    .global UpdateMotor
 981                    .global UpdateMotor
 984                    UpdateMotor:
 985 0002 00                    .skip 1,0
 986                    .global cntKompass
 987                    .global cntKompass
 990                    cntKompass:
 991 0003 0000                  .skip 2,0
 992                    .global beeptime
 993                    .global beeptime
 996                    beeptime:
 997 0005 0000                  .skip 2,0
 998                    .global SendSPI
 999                    .global SendSPI
 1002                   SendSPI:
 1003 0007 00                   .skip 1,0
 1004                   .global ServoActive
 1005                   .global ServoActive
 1008                   ServoActive:
 1009 0008 00                   .skip 1,0
 1010                   .global BeepMuster
 1011                           .data
 1014                   BeepMuster:
 1015 0000 FFFF                 .word   -1
 1016                   .global ServoValue
 1017                   .global ServoValue
 1018                           .section .bss
 1021                   ServoValue:
 1022 0009 0000                 .skip 2,0
 1023                   .global ServoNickValue
 1024                   .global ServoNickValue
 1027                   ServoNickValue:
 1028 000b 0000                 .skip 2,0
 1029                   .global ServoRollValue
 1030                   .global ServoRollValue
 1033                   ServoRollValue:
 1034 000d 0000                 .skip 2,0
 1035                           .data
 1038                   ServoNickOffset.2524:
 1039 0002 FC01                 .word   508
 1040                           .lcomm ServoIndex.2523,1
 1041                           .lcomm ServoFrameTime.2522,2
 1042                           .lcomm RemainingPulse.2521,2
 1043                           .lcomm PulseOutput.2520,1
 1044                           .lcomm cnt.2378,1
 1047                   cnt_1ms.2377:
 1048 0004 01                   .byte   1
 1049                           .lcomm tim_main,2
 1050                   /* File "timer0.c": code 1103 = 0x044f (1015), prologues  41, epilogues  47 */
DEFINED SYMBOLS
                            *ABS*:00000000 timer0.c
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:2      *ABS*:0000003f __SREG__
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:3      *ABS*:0000003e __SP_H__
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:4      *ABS*:0000003d __SP_L__
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:5      *ABS*:00000000 __tmp_reg__
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:6      *ABS*:00000001 __zero_reg__
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:12     .text:00000000 __vector_18
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1002   .bss:00000007 SendSPI
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1043   .bss:00000015 cnt.2378
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:996    .bss:00000005 beeptime
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1014   .data:00000000 BeepMuster
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:990    .bss:00000003 cntKompass
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1047   .data:00000004 cnt_1ms.2377
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:984    .bss:00000002 UpdateMotor
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:978    .bss:00000000 CountMilliseconds
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:188    .text:000001ac SetDelay
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:204    .text:000001be CheckDelay
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:223    .text:000001d6 Delay_ms
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:244    .text:000001f0 Delay_ms_Mess
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:273    .text:0000021e TIMER2_Init
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:322    .text:0000026e Timer_Init
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1044   .bss:00000016 tim_main
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:351    .text:0000029c __vector_9
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1042   .bss:00000014 PulseOutput.2520
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1041   .bss:00000012 RemainingPulse.2521
                             .bss:0000000f ServoIndex.2523
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1040   .bss:00000010 ServoFrameTime.2522
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1038   .data:00000002 ServoNickOffset.2524
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1027   .bss:0000000b ServoNickValue
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1008   .bss:00000008 ServoActive
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1021   .bss:00000009 ServoValue
C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1033   .bss:0000000d ServoRollValue

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
PlatinenVersion
EE_Parameter
__udivmodhi4
KompassValue
KompassStartwert
__divmodhi4
KompassRichtung
AdReady
Parameter_ServoNickControl
IntegralNick
__divmodsi4
__mulsi3
DebugOut
SenderOkay
PPM_in