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1 .file "fc.c"2 .arch atmega1284p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global GasIsZeroCnt11 .global GasIsZeroCnt12 .section .bss15 GasIsZeroCnt:16 0000 0000 .skip 2,017 .global HooverGasEmergencyPercent18 .global HooverGasEmergencyPercent21 HooverGasEmergencyPercent:22 0002 0000 .skip 2,023 .global VarioCharacter24 .data27 VarioCharacter:28 0000 20 .byte 3229 .global GIER_GRAD_FAKTOR32 GIER_GRAD_FAKTOR:33 0001 0B05 0000 .long 129134 .global FC_StatusFlags235 .global FC_StatusFlags236 .section .bss39 FC_StatusFlags2:40 0004 00 .skip 1,041 .global FC_StatusFlags42 .global FC_StatusFlags45 FC_StatusFlags:46 0005 00 .skip 1,047 .global modell_fliegt48 .global modell_fliegt51 modell_fliegt:52 0006 0000 .skip 2,053 .global MaxStickRoll54 .global MaxStickRoll57 MaxStickRoll:58 0008 0000 .skip 2,059 .global MaxStickNick60 .global MaxStickNick63 MaxStickNick:64 000a 0000 .skip 2,065 .global ExternHoehenValue66 .data69 ExternHoehenValue:70 0005 ECFF .word -2071 .global ExternStickGier72 .global ExternStickGier73 .section .bss76 ExternStickGier:77 000c 0000 .skip 2,078 .global ExternStickRoll79 .global ExternStickRoll82 ExternStickRoll:83 000e 0000 .skip 2,084 .global ExternStickNick85 .global ExternStickNick88 ExternStickNick:89 0010 0000 .skip 2,090 .global sintab91 .data94 sintab:95 0007 00 .byte 096 0008 02 .byte 297 0009 04 .byte 498 000a 06 .byte 699 000b 07 .byte 7100 000c 08 .byte 8101 000d 08 .byte 8102 000e 08 .byte 8103 000f 07 .byte 7104 0010 06 .byte 6105 0011 04 .byte 4106 0012 02 .byte 2107 0013 00 .byte 0108 0014 FE .byte -2109 0015 FC .byte -4110 0016 FA .byte -6111 0017 F9 .byte -7112 0018 F8 .byte -8113 0019 F8 .byte -8114 001a F8 .byte -8115 001b F9 .byte -7116 001c FA .byte -6117 001d FC .byte -4118 001e FE .byte -2119 001f 00 .byte 0120 0020 02 .byte 2121 0021 04 .byte 4122 0022 06 .byte 6123 0023 07 .byte 7124 0024 08 .byte 8125 0025 08 .byte 8126 .global CareFree127 .global CareFree128 .section .bss131 CareFree:132 0012 00 .skip 1,0133 .global Parameter_DynamicStability134 .data137 Parameter_DynamicStability:138 0026 64 .byte 100139 .global Parameter_CouplingYawCorrection142 Parameter_CouplingYawCorrection:143 0027 40 .byte 64144 .global Parameter_AchsKopplung2147 Parameter_AchsKopplung2:148 0028 41 .byte 65149 .global Parameter_AchsKopplung1152 Parameter_AchsKopplung1:153 0029 5A .byte 90154 .global Parameter_LoopGasLimit157 Parameter_LoopGasLimit:158 002a 46 .byte 70159 .global Parameter_ServoRollControl162 Parameter_ServoRollControl:163 002b 64 .byte 100164 .global Parameter_ServoNickControl167 Parameter_ServoNickControl:168 002c 64 .byte 100169 .global Parameter_UserParam8170 .global Parameter_UserParam8171 .section .bss174 Parameter_UserParam8:175 0013 00 .skip 1,0176 .global Parameter_UserParam7177 .global Parameter_UserParam7180 Parameter_UserParam7:181 0014 00 .skip 1,0182 .global Parameter_UserParam6183 .global Parameter_UserParam6186 Parameter_UserParam6:187 0015 00 .skip 1,0188 .global Parameter_UserParam5189 .global Parameter_UserParam5192 Parameter_UserParam5:193 0016 00 .skip 1,0194 .global Parameter_UserParam4195 .global Parameter_UserParam4198 Parameter_UserParam4:199 0017 00 .skip 1,0200 .global Parameter_UserParam3201 .global Parameter_UserParam3204 Parameter_UserParam3:205 0018 00 .skip 1,0206 .global Parameter_UserParam2207 .global Parameter_UserParam2210 Parameter_UserParam2:211 0019 00 .skip 1,0212 .global Parameter_UserParam1213 .global Parameter_UserParam1216 Parameter_UserParam1:217 001a 00 .skip 1,0218 .global Parameter_I_Faktor219 .data222 Parameter_I_Faktor:223 002d 0A .byte 10224 .global Parameter_Gier_P227 Parameter_Gier_P:228 002e 02 .byte 2229 .global Parameter_Gyro_Gier_I232 Parameter_Gyro_Gier_I:233 002f 96 .byte -106234 .global Parameter_Gyro_Gier_P237 Parameter_Gyro_Gier_P:238 0030 96 .byte -106239 .global Parameter_Gyro_I242 Parameter_Gyro_I:243 0031 96 .byte -106244 .global Parameter_Gyro_P247 Parameter_Gyro_P:248 0032 96 .byte -106249 .global Parameter_Gyro_D252 Parameter_Gyro_D:253 0033 08 .byte 8254 .global Parameter_Hoehe_GPS_Z257 Parameter_Hoehe_GPS_Z:258 0034 40 .byte 64259 .global Parameter_KompassWirkung262 Parameter_KompassWirkung:263 0035 40 .byte 64264 .global Parameter_Hoehe_ACC_Wirkung267 Parameter_Hoehe_ACC_Wirkung:268 0036 3A .byte 58269 .global Parameter_Hoehe_P272 Parameter_Hoehe_P:273 0037 10 .byte 16274 .global Parameter_HoehenSchalter277 Parameter_HoehenSchalter:278 0038 FB .byte -5279 .global Parameter_Luftdruck_D282 Parameter_Luftdruck_D:283 0039 30 .byte 48284 .global Looping_Oben285 .global Looping_Oben286 .section .bss289 Looping_Oben:290 001b 00 .skip 1,0291 .global Looping_Unten292 .global Looping_Unten295 Looping_Unten:296 001c 00 .skip 1,0297 .global Looping_Rechts298 .global Looping_Rechts301 Looping_Rechts:302 001d 00 .skip 1,0303 .global Looping_Links304 .global Looping_Links307 Looping_Links:308 001e 00 .skip 1,0309 .global Looping_Roll310 .global Looping_Roll313 Looping_Roll:314 001f 00 .skip 1,0315 .global Looping_Nick316 .global Looping_Nick319 Looping_Nick:320 0020 00 .skip 1,0321 .global Ki322 .data325 Ki:326 003a 3801 .word 312327 .global HoverGas328 .global HoverGas329 .section .bss332 HoverGas:333 0021 0000 .skip 2,0334 .global LageKorrekturNick335 .global LageKorrekturNick338 LageKorrekturNick:339 0023 0000 .skip 2,0340 .global LageKorrekturRoll341 .global LageKorrekturRoll344 LageKorrekturRoll:345 0025 0000 .skip 2,0346 .global NeueKompassRichtungMerken347 .global NeueKompassRichtungMerken350 NeueKompassRichtungMerken:351 0027 00 .skip 1,0352 .global CalibrationDone353 .global CalibrationDone356 CalibrationDone:357 0028 00 .skip 1,0358 .global CompassGierSetpoint359 .global CompassGierSetpoint362 CompassGierSetpoint:363 0029 0000 .skip 2,0364 .global WaypointTrimming365 .global WaypointTrimming368 WaypointTrimming:369 002b 00 .skip 1,0370 .global carefree_old371 .data374 carefree_old:375 003c 32 .byte 50376 .global FromNC_AltitudeSpeed377 .global FromNC_AltitudeSpeed378 .section .bss381 FromNC_AltitudeSpeed:382 002c 00 .skip 1,0383 .global FromNC_AltitudeSetpoint384 .global FromNC_AltitudeSetpoint387 FromNC_AltitudeSetpoint:388 002d 0000 0000 .skip 4,0389 .global AltitudeSetpointTrimming390 .global AltitudeSetpointTrimming393 AltitudeSetpointTrimming:394 0031 0000 .skip 2,0395 .global SollHoehe396 .global SollHoehe399 SollHoehe:400 0033 0000 0000 .skip 4,0401 .global HoehenWert402 .global HoehenWert405 HoehenWert:406 0037 0000 0000 .skip 4,0407 .global StartTrigger408 .global StartTrigger411 StartTrigger:412 003b 00 .skip 1,0413 .global MotorenEin414 .global MotorenEin417 MotorenEin:418 003c 00 .skip 1,0419 .global SenderOkay420 .global SenderOkay423 SenderOkay:424 003d 00 .skip 1,0425 .global Poti426 .global Poti429 Poti:430 003e 0000 0000 .skip 9,0430 0000 0000430 00431 .global StickGas432 .global StickGas435 StickGas:436 0047 0000 .skip 2,0437 .global StickGier438 .global StickGier441 StickGier:442 0049 0000 .skip 2,0443 .global StickRoll444 .global StickRoll447 StickRoll:448 004b 0000 .skip 2,0449 .global StickNick450 .global StickNick453 StickNick:454 004d 0000 .skip 2,0455 .global HoverGasMax456 .data459 HoverGasMax:460 003d FF03 .word 1023461 .global HoverGasMin462 .global HoverGasMin463 .section .bss466 HoverGasMin:467 004f 0000 .skip 2,0468 .global StickGasHover469 .data472 StickGasHover:473 003f 7800 .word 120474 .global GierGyroFehler475 .global GierGyroFehler476 .section .bss479 GierGyroFehler:480 0051 0000 .skip 2,0481 .global Umschlag180Roll482 .data485 Umschlag180Roll:486 0041 90D0 0300 .long 250000487 .global Umschlag180Nick490 Umschlag180Nick:491 0045 90D0 0300 .long 250000492 .global TrichterFlug493 .global TrichterFlug494 .section .bss497 TrichterFlug:498 0053 00 .skip 1,0499 .global HoehenReglerAktiv500 .global HoehenReglerAktiv503 HoehenReglerAktiv:504 0054 00 .skip 1,0505 .global KompassSignalSchlecht506 .data509 KompassSignalSchlecht:510 0049 3200 .word 50511 .global KompassFusion514 KompassFusion:515 004b 20 .byte 32516 .global CalculateCompassTimer519 CalculateCompassTimer:520 004c 64 .byte 100521 .global KompassSollWert522 .global KompassSollWert523 .section .bss526 KompassSollWert:527 0055 0000 .skip 2,0528 .global KompassValue529 .data532 KompassValue:533 004d FFFF .word -1534 .global Mess_Integral_Hoch535 .global Mess_Integral_Hoch536 .section .bss539 Mess_Integral_Hoch:540 0057 0000 0000 .skip 4,0541 .global SummeRoll542 .global SummeRoll545 SummeRoll:546 005b 0000 0000 .skip 4,0547 .global SummeNick548 .global SummeNick551 SummeNick:552 005f 0000 0000 .skip 4,0553 .global Mess_Integral_Gier2554 .global Mess_Integral_Gier2557 Mess_Integral_Gier2:558 0063 0000 0000 .skip 4,0559 .global Mess_Integral_Gier560 .global Mess_Integral_Gier563 Mess_Integral_Gier:564 0067 0000 0000 .skip 4,0565 .global Mess_IntegralRoll2566 .global Mess_IntegralRoll2569 Mess_IntegralRoll2:570 006b 0000 0000 .skip 4,0571 .global Mess_IntegralRoll572 .global Mess_IntegralRoll575 Mess_IntegralRoll:576 006f 0000 0000 .skip 4,0577 .global Mess_IntegralNick2578 .global Mess_IntegralNick2581 Mess_IntegralNick2:582 0073 0000 0000 .skip 4,0583 .global Mess_IntegralNick584 .global Mess_IntegralNick587 Mess_IntegralNick:588 0077 0000 0000 .skip 4,0589 .global Integral_Gier590 .global Integral_Gier593 Integral_Gier:594 007b 0000 0000 .skip 4,0595 .global IntegralAccZ596 .global IntegralAccZ599 IntegralAccZ:600 007f 0000 0000 .skip 4,0601 .global IntegralAccRoll602 .global IntegralAccRoll605 IntegralAccRoll:606 0083 0000 0000 .skip 4,0607 .global IntegralAccNick608 .global IntegralAccNick611 IntegralAccNick:612 0087 0000 0000 .skip 4,0613 .global IntegralRoll2614 .global IntegralRoll2617 IntegralRoll2:618 008b 0000 0000 .skip 4,0619 .global IntegralRoll620 .global IntegralRoll623 IntegralRoll:624 008f 0000 0000 .skip 4,0625 .global IntegralNick2626 .global IntegralNick2629 IntegralNick2:630 0093 0000 0000 .skip 4,0631 .global IntegralNick632 .global IntegralNick635 IntegralNick:636 0097 0000 0000 .skip 4,0637 .global ControlHeading638 .global ControlHeading641 ControlHeading:642 009b 00 .skip 1,0643 .global NeutralAccZ644 .global NeutralAccZ647 NeutralAccZ:648 009c 0000 .skip 2,0649 .global NaviCntAcc650 .global NaviCntAcc653 NaviCntAcc:654 009e 0000 .skip 2,0655 .global NeutralAccY656 .global NeutralAccY659 NeutralAccY:660 00a0 0000 .skip 2,0661 .global NeutralAccX662 .global NeutralAccX665 NeutralAccX:666 00a2 0000 .skip 2,0667 .global StartNeutralNick668 .global StartNeutralNick671 StartNeutralNick:672 00a4 0000 .skip 2,0673 .global StartNeutralRoll674 .global StartNeutralRoll677 StartNeutralRoll:678 00a6 0000 .skip 2,0679 .global AdNeutralGier680 .global AdNeutralGier683 AdNeutralGier:684 00a8 0000 .skip 2,0685 .global AdNeutralRoll686 .global AdNeutralRoll689 AdNeutralRoll:690 00aa 0000 .skip 2,0691 .global AdNeutralNick692 .global AdNeutralNick695 AdNeutralNick:696 00ac 0000 .skip 2,0697 .global BaroExpandActive698 .global BaroExpandActive701 BaroExpandActive:702 00ae 0000 .skip 2,0703 .text704 .global CopyDebugValues706 CopyDebugValues:707 /* prologue: frame size=0 */708 0000 EF92 push r14709 0002 FF92 push r15710 0004 0F93 push r16711 0006 1F93 push r17712 /* prologue end (size=4) */713 0008 8091 0000 lds r24,EE_Parameter+28714 000c 9927 clr r25715 000e 880F lsl r24716 0010 991F rol r25717 0012 880F lsl r24718 0014 991F rol r25719 0016 7C01 movw r14,r24720 0018 0027 clr r16721 001a F7FC sbrc r15,7722 001c 0095 com r16723 001e 102F mov r17,r16724 0020 8091 0000 lds r24,IntegralNick725 0024 9091 0000 lds r25,(IntegralNick)+1726 0028 A091 0000 lds r26,(IntegralNick)+2727 002c B091 0000 lds r27,(IntegralNick)+3728 0030 BC01 movw r22,r24729 0032 CD01 movw r24,r26730 0034 A801 movw r20,r16731 0036 9701 movw r18,r14732 0038 0E94 0000 call __divmodsi4733 003c 3093 0000 sts (DebugOut+2)+1,r19734 0040 2093 0000 sts DebugOut+2,r18735 0044 8091 0000 lds r24,IntegralRoll736 0048 9091 0000 lds r25,(IntegralRoll)+1737 004c A091 0000 lds r26,(IntegralRoll)+2738 0050 B091 0000 lds r27,(IntegralRoll)+3739 0054 BC01 movw r22,r24740 0056 CD01 movw r24,r26741 0058 A801 movw r20,r16742 005a 9701 movw r18,r14743 005c 0E94 0000 call __divmodsi4744 0060 3093 0000 sts (DebugOut+4)+1,r19745 0064 2093 0000 sts DebugOut+4,r18746 0068 8091 0000 lds r24,Mittelwert_AccNick747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1748 0070 97FD sbrc r25,7749 0072 0396 adiw r24,3750 .L2:751 0074 9595 asr r25752 0076 8795 ror r24753 0078 9595 asr r25754 007a 8795 ror r24755 007c 9093 0000 sts (DebugOut+6)+1,r25756 0080 8093 0000 sts DebugOut+6,r24757 0084 8091 0000 lds r24,Mittelwert_AccRoll758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1759 008c 97FD sbrc r25,7760 008e 0396 adiw r24,3761 .L3:762 0090 9595 asr r25763 0092 8795 ror r24764 0094 9595 asr r25765 0096 8795 ror r24766 0098 9093 0000 sts (DebugOut+8)+1,r25767 009c 8093 0000 sts DebugOut+8,r24768 00a0 8091 0000 lds r24,AdNeutralGier769 00a4 9091 0000 lds r25,(AdNeutralGier)+1770 00a8 2091 0000 lds r18,AdWertGier771 00ac 3091 0000 lds r19,(AdWertGier)+1772 00b0 821B sub r24,r18773 00b2 930B sbc r25,r19774 00b4 9093 0000 sts (DebugOut+10)+1,r25775 00b8 8093 0000 sts DebugOut+10,r24776 00bc 8091 0000 lds r24,HoehenWert777 00c0 9091 0000 lds r25,(HoehenWert)+1778 00c4 A091 0000 lds r26,(HoehenWert)+2779 00c8 B091 0000 lds r27,(HoehenWert)+3780 00cc BC01 movw r22,r24781 00ce CD01 movw r24,r26782 00d0 25E0 ldi r18,lo8(5)783 00d2 30E0 ldi r19,hi8(5)784 00d4 40E0 ldi r20,hlo8(5)785 00d6 50E0 ldi r21,hhi8(5)786 00d8 0E94 0000 call __divmodsi4787 00dc 3093 0000 sts (DebugOut+12)+1,r19788 00e0 2093 0000 sts DebugOut+12,r18789 00e4 8091 0000 lds r24,AdWertAccHoch790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1791 00ec 9093 0000 sts (DebugOut+14)+1,r25792 00f0 8093 0000 sts DebugOut+14,r24793 00f4 8091 0000 lds r24,KompassValue794 00f8 9091 0000 lds r25,(KompassValue)+1795 00fc 9093 0000 sts (DebugOut+18)+1,r25796 0100 8093 0000 sts DebugOut+18,r24797 0104 8091 0000 lds r24,UBat798 0108 9091 0000 lds r25,(UBat)+1799 010c 9093 0000 sts (DebugOut+20)+1,r25800 0110 8093 0000 sts DebugOut+20,r24801 0114 8091 0000 lds r24,SenderOkay802 0118 9927 clr r25803 011a 9093 0000 sts (DebugOut+22)+1,r25804 011e 8093 0000 sts DebugOut+22,r24805 0122 8091 0000 lds r24,ErsatzKompassInGrad806 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1807 012a 9093 0000 sts (DebugOut+24)+1,r25808 012e 8093 0000 sts DebugOut+24,r24809 0132 8091 0000 lds r24,Motor+1810 0136 9927 clr r25811 0138 9093 0000 sts (DebugOut+26)+1,r25812 013c 8093 0000 sts DebugOut+26,r24813 0140 8091 0000 lds r24,Motor+9814 0144 9927 clr r25815 0146 9093 0000 sts (DebugOut+28)+1,r25816 014a 8093 0000 sts DebugOut+28,r24817 014e 8091 0000 lds r24,Motor+17818 0152 9927 clr r25819 0154 9093 0000 sts (DebugOut+30)+1,r25820 0158 8093 0000 sts DebugOut+30,r24821 015c 8091 0000 lds r24,Motor+25822 0160 9927 clr r25823 0162 9093 0000 sts (DebugOut+32)+1,r25824 0166 8093 0000 sts DebugOut+32,r24825 016a 8091 0000 lds r24,ServoNickValue826 016e 9091 0000 lds r25,(ServoNickValue)+1827 0172 9093 0000 sts (DebugOut+42)+1,r25828 0176 8093 0000 sts DebugOut+42,r24829 017a 8091 0000 lds r24,Capacity830 017e 9091 0000 lds r25,(Capacity)+1831 0182 9093 0000 sts (DebugOut+46)+1,r25832 0186 8093 0000 sts DebugOut+46,r24833 018a 8091 0000 lds r24,Capacity+4834 018e 9091 0000 lds r25,(Capacity+4)+1835 0192 9093 0000 sts (DebugOut+48)+1,r25836 0196 8093 0000 sts DebugOut+48,r24837 019a 8091 0000 lds r24,SollHoehe838 019e 9091 0000 lds r25,(SollHoehe)+1839 01a2 A091 0000 lds r26,(SollHoehe)+2840 01a6 B091 0000 lds r27,(SollHoehe)+3841 01aa BC01 movw r22,r24842 01ac CD01 movw r24,r26843 01ae 25E0 ldi r18,lo8(5)844 01b0 30E0 ldi r19,hi8(5)845 01b2 40E0 ldi r20,hlo8(5)846 01b4 50E0 ldi r21,hhi8(5)847 01b6 0E94 0000 call __divmodsi4848 01ba 3093 0000 sts (DebugOut+50)+1,r19849 01be 2093 0000 sts DebugOut+50,r18850 01c2 8091 0000 lds r24,KompassSollWert851 01c6 9091 0000 lds r25,(KompassSollWert)+1852 01ca 9093 0000 sts (DebugOut+56)+1,r25853 01ce 8093 0000 sts DebugOut+56,r24854 01d2 8091 0000 lds r24,Capacity+6855 01d6 9927 clr r25856 01d8 9093 0000 sts (DebugOut+60)+1,r25857 01dc 8093 0000 sts DebugOut+60,r24858 01e0 8091 0000 lds r24,GPS_Nick859 01e4 9091 0000 lds r25,(GPS_Nick)+1860 01e8 9093 0000 sts (DebugOut+62)+1,r25861 01ec 8093 0000 sts DebugOut+62,r24862 01f0 8091 0000 lds r24,GPS_Roll863 01f4 9091 0000 lds r25,(GPS_Roll)+1864 01f8 9093 0000 sts (DebugOut+64)+1,r25865 01fc 8093 0000 sts DebugOut+64,r24866 0200 8091 0000 lds r24,VersionInfo+5867 0204 8823 tst r24868 0206 01F4 brne .L5869 0208 8091 0000 lds r24,VersionInfo+6870 020c 8823 tst r24871 020e 01F0 breq .L4872 .L5:873 0210 8091 0000 lds r24,DebugOut+1874 0214 8160 ori r24,lo8(1)875 0216 00C0 rjmp .L7876 .L4:877 0218 8091 0000 lds r24,DebugOut+1878 021c 8E7F andi r24,lo8(-2)879 .L7:880 021e 8093 0000 sts DebugOut+1,r24881 /* epilogue: frame size=0 */882 0222 1F91 pop r17883 0224 0F91 pop r16884 0226 FF90 pop r15885 0228 EF90 pop r14886 022a 0895 ret887 /* epilogue end (size=5) */888 /* function CopyDebugValues size 280 (271) */890 .global Piep892 Piep:893 /* prologue: frame size=0 */894 022c EF92 push r14895 022e FF92 push r15896 0230 1F93 push r17897 0232 CF93 push r28898 0234 DF93 push r29899 /* prologue end (size=5) */900 0236 182F mov r17,r24901 0238 7B01 movw r14,r22902 023a 8091 0000 lds r24,MotorenEin903 023e 8823 tst r24904 0240 01F4 brne .L8905 0242 8091 0000 lds r24,PlatinenVersion906 0246 8C30 cpi r24,lo8(12)907 0248 00F0 brlo .L11908 024a 8631 cpi r24,lo8(22)909 024c 01F4 brne .L10910 .L11:911 024e 2998 cbi 37-0x20,1912 0250 00C0 rjmp .L12913 .L10:914 0252 299A sbi 37-0x20,1915 .L12:916 0254 1150 subi r17,lo8(-(-1))917 0256 1F3F cpi r17,lo8(-1)918 0258 01F0 breq .L26919 025a F092 0000 sts (beeptime)+1,r15920 025e E092 0000 sts beeptime,r14921 0262 E701 movw r28,r14922 .L34:923 0264 8091 0000 lds r24,beeptime924 0268 9091 0000 lds r25,(beeptime)+1925 026c 892B or r24,r25926 026e 01F4 brne .L31927 0270 2097 sbiw r28,0928 0272 01F0 breq .L12929 .L31:930 0274 8091 0000 lds r24,UpdateMotor931 0278 8823 tst r24932 027a 01F0 breq .L34933 027c 1092 0000 sts UpdateMotor,__zero_reg__934 0280 8091 0000 lds r24,beeptime935 0284 9091 0000 lds r25,(beeptime)+1936 0288 892B or r24,r25937 028a 01F4 brne .L19938 028c 2197 sbiw r28,1939 .L19:940 028e 0E94 0000 call LIBFC_Polling941 0292 00C0 rjmp .L34942 .L26:943 0294 8091 0000 lds r24,PlatinenVersion944 0298 8C30 cpi r24,lo8(12)945 029a 00F0 brlo .L23946 029c 8631 cpi r24,lo8(22)947 029e 01F4 brne .L22948 .L23:949 02a0 299A sbi 37-0x20,1950 02a2 00C0 rjmp .L8951 .L22:952 02a4 2998 cbi 37-0x20,1953 .L8:954 /* epilogue: frame size=0 */955 02a6 DF91 pop r29956 02a8 CF91 pop r28957 02aa 1F91 pop r17958 02ac FF90 pop r15959 02ae EF90 pop r14960 02b0 0895 ret961 /* epilogue end (size=6) */962 /* function Piep size 67 (56) */964 .global CalibrierMittelwert966 CalibrierMittelwert:967 /* prologue: frame size=0 */968 02b2 CF93 push r28969 02b4 DF93 push r29970 /* prologue end (size=2) */971 02b6 8091 0000 lds r24,PlatinenVersion972 02ba 8D30 cpi r24,lo8(13)973 02bc 01F4 brne .L36974 02be 0E94 0000 call SucheGyroOffset975 .L36:976 02c2 1092 7A00 sts 122,__zero_reg__977 02c6 8091 0000 lds r24,AdWertNick978 02ca 9091 0000 lds r25,(AdWertNick)+1979 02ce 9093 0000 sts (MesswertNick)+1,r25980 02d2 8093 0000 sts MesswertNick,r24981 02d6 8091 0000 lds r24,AdWertRoll982 02da 9091 0000 lds r25,(AdWertRoll)+1983 02de 9093 0000 sts (MesswertRoll)+1,r25984 02e2 8093 0000 sts MesswertRoll,r24985 02e6 8091 0000 lds r24,AdWertGier986 02ea 9091 0000 lds r25,(AdWertGier)+1987 02ee 9093 0000 sts (MesswertGier)+1,r25988 02f2 8093 0000 sts MesswertGier,r24989 02f6 2091 0000 lds r18,AdWertAccNick990 02fa 3091 0000 lds r19,(AdWertAccNick)+1991 02fe C901 movw r24,r18992 0300 880F lsl r24993 0302 991F rol r25994 0304 880F lsl r24995 0306 991F rol r25996 0308 820F add r24,r18997 030a 931F adc r25,r19998 030c 820F add r24,r18999 030e 931F adc r25,r191000 0310 9093 0000 sts (Mittelwert_AccNick)+1,r251001 0314 8093 0000 sts Mittelwert_AccNick,r241002 0318 2091 0000 lds r18,AdWertAccRoll1003 031c 3091 0000 lds r19,(AdWertAccRoll)+11004 0320 C901 movw r24,r181005 0322 880F lsl r241006 0324 991F rol r251007 0326 880F lsl r241008 0328 991F rol r251009 032a 820F add r24,r181010 032c 931F adc r25,r191011 032e 820F add r24,r181012 0330 931F adc r25,r191013 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r251014 0336 8093 0000 sts Mittelwert_AccRoll,r241015 033a 8FEC ldi r24,lo8(-49)1016 033c 8093 7A00 sts 122,r241017 0340 A0E0 ldi r26,lo8(Poti)1018 0342 B0E0 ldi r27,hi8(Poti)1019 0344 C0E0 ldi r28,lo8(EE_Parameter+5)1020 0346 D0E0 ldi r29,hi8(EE_Parameter+5)1021 0348 97E0 ldi r25,lo8(7)1022 .L46:1023 034a 8991 ld r24,Y+1024 034c E82F mov r30,r241025 034e FF27 clr r311026 0350 EE0F add r30,r301027 0352 FF1F adc r31,r311028 0354 E050 subi r30,lo8(-(PPM_in))1029 0356 F040 sbci r31,hi8(-(PPM_in))1030 0358 0190 ld __tmp_reg__,Z+1031 035a F081 ld r31,Z1032 035c E02D mov r30,__tmp_reg__1033 035e E158 subi r30,lo8(-(127))1034 0360 FF4F sbci r31,hi8(-(127))1035 0362 1E16 cp __zero_reg__,r301036 0364 1F06 cpc __zero_reg__,r311037 0366 04F0 brlt .L401038 0368 E0E0 ldi r30,lo8(0)1039 036a F0E0 ldi r31,hi8(0)1040 036c 00C0 rjmp .L411041 .L40:1042 036e EF3F cpi r30,2551043 0370 F105 cpc r31,__zero_reg__1044 0372 04F0 brlt .L411045 0374 EFEF ldi r30,lo8(255)1046 0376 F0E0 ldi r31,hi8(255)1047 .L41:1048 0378 8C91 ld r24,X1049 037a 282F mov r18,r241050 037c 3327 clr r191051 037e E217 cp r30,r181052 0380 F307 cpc r31,r191053 0382 04F4 brge .L431054 0384 8150 subi r24,lo8(-(-1))1055 0386 00C0 rjmp .L491056 .L43:1057 0388 2E17 cp r18,r301058 038a 3F07 cpc r19,r311059 038c 04F4 brge .L391060 038e 8F5F subi r24,lo8(-(1))1061 .L49:1062 0390 8C93 st X,r241063 .L39:1064 0392 9150 subi r25,lo8(-(-1))1065 0394 1196 adiw r26,11066 0396 97FF sbrs r25,71067 0398 00C0 rjmp .L461068 039a 8091 0000 lds r24,EE_Parameter+651069 039e 9927 clr r251070 03a0 AA27 clr r261071 03a2 BB27 clr r271072 03a4 BC01 movw r22,r241073 03a6 CD01 movw r24,r261074 03a8 24EC ldi r18,lo8(2500)1075 03aa 39E0 ldi r19,hi8(2500)1076 03ac 40E0 ldi r20,hlo8(2500)1077 03ae 50E0 ldi r21,hhi8(2500)1078 03b0 0E94 0000 call __mulsi31079 03b4 DC01 movw r26,r241080 03b6 CB01 movw r24,r221081 03b8 8093 0000 sts Umschlag180Nick,r241082 03bc 9093 0000 sts (Umschlag180Nick)+1,r251083 03c0 A093 0000 sts (Umschlag180Nick)+2,r261084 03c4 B093 0000 sts (Umschlag180Nick)+3,r271085 03c8 8091 0000 lds r24,EE_Parameter+661086 03cc 9927 clr r251087 03ce AA27 clr r261088 03d0 BB27 clr r271089 03d2 BC01 movw r22,r241090 03d4 CD01 movw r24,r261091 03d6 0E94 0000 call __mulsi31092 03da DC01 movw r26,r241093 03dc CB01 movw r24,r221094 03de 8093 0000 sts Umschlag180Roll,r241095 03e2 9093 0000 sts (Umschlag180Roll)+1,r251096 03e6 A093 0000 sts (Umschlag180Roll)+2,r261097 03ea B093 0000 sts (Umschlag180Roll)+3,r271098 /* epilogue: frame size=0 */1099 03ee DF91 pop r291100 03f0 CF91 pop r281101 03f2 0895 ret1102 /* epilogue end (size=3) */1103 /* function CalibrierMittelwert size 161 (156) */1105 .section .progmem.data,"a",@progbits1108 __c.35:1109 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1109 4320 6E6F1109 7420 63611109 6C69 62721109 6174 65641110 .text1111 .global SetNeutral1113 SetNeutral:1114 /* prologue: frame size=0 */1115 03f4 A0E0 ldi r26,lo8(0)1116 03f6 B0E0 ldi r27,hi8(0)1117 03f8 E0E0 ldi r30,pm_lo8(1f)1118 03fa F0E0 ldi r31,pm_hi8(1f)1119 03fc 0C94 0000 jmp __prologue_saves__+121120 1:1121 /* prologue end (size=6) */1122 0400 882E mov r8,r241123 0402 C0E0 ldi r28,lo8(0)1124 0404 D0E0 ldi r29,hi8(0)1125 0406 7E01 movw r14,r281126 0408 6E01 movw r12,r281127 040a 1092 0000 sts VersionInfo+5,__zero_reg__1128 040e D093 0000 sts (NeutralAccX)+1,r291129 0412 C093 0000 sts NeutralAccX,r281130 0416 D093 0000 sts (NeutralAccY)+1,r291131 041a C093 0000 sts NeutralAccY,r281132 041e D093 0000 sts (NeutralAccZ)+1,r291133 0422 C093 0000 sts NeutralAccZ,r281134 0426 D093 0000 sts (AdNeutralNick)+1,r291135 042a C093 0000 sts AdNeutralNick,r281136 042e D093 0000 sts (AdNeutralRoll)+1,r291137 0432 C093 0000 sts AdNeutralRoll,r281138 0436 D093 0000 sts (AdNeutralGier)+1,r291139 043a C093 0000 sts AdNeutralGier,r281140 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1141 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1142 0446 1092 0000 sts ExpandBaro,__zero_reg__1143 044a 0E94 0000 call CalibrierMittelwert1144 044e 84E6 ldi r24,lo8(100)1145 0450 90E0 ldi r25,hi8(100)1146 0452 0E94 0000 call Delay_ms_Mess1147 0456 0E94 0000 call CalibrierMittelwert1148 045a 8091 0000 lds r24,EE_Parameter+131149 045e 80FF sbrs r24,01150 0460 00C0 rjmp .L511151 0462 8091 0000 lds r24,MessLuftdruck1152 0466 9091 0000 lds r25,(MessLuftdruck)+11153 046a 875B subi r24,lo8(951)1154 046c 9340 sbci r25,hi8(951)1155 046e 00F4 brsh .L531156 0470 8091 0000 lds r24,MessLuftdruck1157 0474 9091 0000 lds r25,(MessLuftdruck)+11158 0478 8E5E subi r24,lo8(750)1159 047a 9240 sbci r25,hi8(750)1160 047c 00F4 brsh .L511161 .L53:1162 047e 0E94 0000 call SucheLuftruckOffset1163 .L51:1164 0482 0FE1 ldi r16,lo8(31)1165 .L57:1166 0484 8AE0 ldi r24,lo8(10)1167 0486 90E0 ldi r25,hi8(10)1168 0488 0E94 0000 call Delay_ms_Mess1169 048c 8091 0000 lds r24,AdWertGier1170 0490 9091 0000 lds r25,(AdWertGier)+11171 0494 C80F add r28,r241172 0496 D91F adc r29,r251173 0498 8091 0000 lds r24,AdWertNick1174 049c 9091 0000 lds r25,(AdWertNick)+11175 04a0 E80E add r14,r241176 04a2 F91E adc r15,r251177 04a4 8091 0000 lds r24,AdWertRoll1178 04a8 9091 0000 lds r25,(AdWertRoll)+11179 04ac C80E add r12,r241180 04ae D91E adc r13,r251181 04b0 0150 subi r16,lo8(-(-1))1182 04b2 07FF sbrs r16,71183 04b4 00C0 rjmp .L571184 04b6 9701 movw r18,r141185 04b8 205F subi r18,lo8(-(16))1186 04ba 3F4F sbci r19,hi8(-(16))1187 04bc 3695 lsr r191188 04be 2795 ror r181189 04c0 3695 lsr r191190 04c2 2795 ror r181191 04c4 3093 0000 sts (AdNeutralNick)+1,r191192 04c8 2093 0000 sts AdNeutralNick,r181193 04cc C601 movw r24,r121194 04ce 4096 adiw r24,161195 04d0 9695 lsr r251196 04d2 8795 ror r241197 04d4 9695 lsr r251198 04d6 8795 ror r241199 04d8 9093 0000 sts (AdNeutralRoll)+1,r251200 04dc 8093 0000 sts AdNeutralRoll,r241201 04e0 6096 adiw r28,161202 04e2 F5E0 ldi r31,51203 04e4 D695 1: lsr r291204 04e6 C795 ror r281205 04e8 FA95 dec r311206 04ea 01F4 brne 1b1207 04ec D093 0000 sts (AdNeutralGier)+1,r291208 04f0 C093 0000 sts AdNeutralGier,r281209 04f4 9093 0000 sts (StartNeutralRoll)+1,r251210 04f8 8093 0000 sts StartNeutralRoll,r241211 04fc 3093 0000 sts (StartNeutralNick)+1,r191212 0500 2093 0000 sts StartNeutralNick,r181213 0504 8820 tst r81214 0506 01F4 brne .+21215 0508 00C0 rjmp .L581216 050a 8091 0000 lds r24,Mittelwert_AccNick1217 050e 9091 0000 lds r25,(Mittelwert_AccNick)+11218 0512 97FF sbrs r25,71219 0514 00C0 rjmp .L591220 0516 9095 com r251221 0518 8195 neg r241222 051a 9F4F sbci r25,lo8(-1)1223 .L59:1224 051c 6CE0 ldi r22,lo8(12)1225 051e 70E0 ldi r23,hi8(12)1226 0520 0E94 0000 call __divmodhi41227 0524 9B01 movw r18,r221228 0526 7093 0000 sts (NeutralAccX)+1,r231229 052a 6093 0000 sts NeutralAccX,r221230 052e 8091 0000 lds r24,Mittelwert_AccRoll1231 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+11232 0536 97FF sbrs r25,71233 0538 00C0 rjmp .L601234 053a 9095 com r251235 053c 8195 neg r241236 053e 9F4F sbci r25,lo8(-1)1237 .L60:1238 0540 6CE0 ldi r22,lo8(12)1239 0542 70E0 ldi r23,hi8(12)1240 0544 0E94 0000 call __divmodhi41241 0548 7093 0000 sts (NeutralAccY)+1,r231242 054c 6093 0000 sts NeutralAccY,r221243 0550 8091 0000 lds r24,Aktuell_az1244 0554 9091 0000 lds r25,(Aktuell_az)+11245 0558 9093 0000 sts (NeutralAccZ)+1,r251246 055c 8093 0000 sts NeutralAccZ,r241247 0560 B901 movw r22,r181248 0562 84E0 ldi r24,lo8(4)1249 0564 90E0 ldi r25,hi8(4)1250 0566 0E94 0000 call SetParamWord1251 056a 6091 0000 lds r22,NeutralAccY1252 056e 7091 0000 lds r23,(NeutralAccY)+11253 0572 86E0 ldi r24,lo8(6)1254 0574 90E0 ldi r25,hi8(6)1255 0576 0E94 0000 call SetParamWord1256 057a 6091 0000 lds r22,NeutralAccZ1257 057e 7091 0000 lds r23,(NeutralAccZ)+11258 0582 88E0 ldi r24,lo8(8)1259 0584 90E0 ldi r25,hi8(8)1260 0586 0E94 0000 call SetParamWord1261 058a 00C0 rjmp .L611262 .L58:1263 058c 84E0 ldi r24,lo8(4)1264 058e 90E0 ldi r25,hi8(4)1265 0590 0E94 0000 call GetParamWord1266 0594 9093 0000 sts (NeutralAccX)+1,r251267 0598 8093 0000 sts NeutralAccX,r241268 059c 86E0 ldi r24,lo8(6)1269 059e 90E0 ldi r25,hi8(6)1270 05a0 0E94 0000 call GetParamWord1271 05a4 9093 0000 sts (NeutralAccY)+1,r251272 05a8 8093 0000 sts NeutralAccY,r241273 05ac 88E0 ldi r24,lo8(8)1274 05ae 90E0 ldi r25,hi8(8)1275 05b0 0E94 0000 call GetParamWord1276 05b4 9C01 movw r18,r241277 05b6 9093 0000 sts (NeutralAccZ)+1,r251278 05ba 8093 0000 sts NeutralAccZ,r241279 05be 8091 0000 lds r24,NeutralAccX1280 05c2 9091 0000 lds r25,(NeutralAccX)+11281 05c6 8150 subi r24,lo8(2049)1282 05c8 9840 sbci r25,hi8(2049)1283 05ca 00F4 brsh .L631284 05cc 8091 0000 lds r24,NeutralAccY1285 05d0 9091 0000 lds r25,(NeutralAccY)+11286 05d4 8150 subi r24,lo8(2049)1287 05d6 9840 sbci r25,hi8(2049)1288 05d8 00F4 brsh .L631289 05da 2150 subi r18,lo8(1025)1290 05dc 3440 sbci r19,hi8(1025)1291 05de 00F0 brlo .L611292 .L63:1293 05e0 80E0 ldi r24,lo8(__c.35)1294 05e2 90E0 ldi r25,hi8(__c.35)1295 05e4 9F93 push r251296 05e6 8F93 push r241297 05e8 80E0 ldi r24,lo8(pm(uart_putchar))1298 05ea 90E0 ldi r25,hi8(pm(uart_putchar))1299 05ec 9F93 push r251300 05ee 8F93 push r241301 05f0 E091 0000 lds r30,_printf_P1302 05f4 F091 0000 lds r31,(_printf_P)+11303 05f8 0995 icall1304 05fa 8091 0000 lds r24,Mittelwert_AccNick1305 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+11306 0602 97FF sbrs r25,71307 0604 00C0 rjmp .L641308 0606 9095 com r251309 0608 8195 neg r241310 060a 9F4F sbci r25,lo8(-1)1311 .L64:1312 060c 6CE0 ldi r22,lo8(12)1313 060e 70E0 ldi r23,hi8(12)1314 0610 0E94 0000 call __divmodhi41315 0614 7093 0000 sts (NeutralAccX)+1,r231316 0618 6093 0000 sts NeutralAccX,r221317 061c 8091 0000 lds r24,Mittelwert_AccRoll1318 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+11319 0624 97FF sbrs r25,71320 0626 00C0 rjmp .L651321 0628 9095 com r251322 062a 8195 neg r241323 062c 9F4F sbci r25,lo8(-1)1324 .L65:1325 062e 6CE0 ldi r22,lo8(12)1326 0630 70E0 ldi r23,hi8(12)1327 0632 0E94 0000 call __divmodhi41328 0636 7093 0000 sts (NeutralAccY)+1,r231329 063a 6093 0000 sts NeutralAccY,r221330 063e 8091 0000 lds r24,Aktuell_az1331 0642 9091 0000 lds r25,(Aktuell_az)+11332 0646 9093 0000 sts (NeutralAccZ)+1,r251333 064a 8093 0000 sts NeutralAccZ,r241334 064e 0F90 pop __tmp_reg__1335 0650 0F90 pop __tmp_reg__1336 0652 0F90 pop __tmp_reg__1337 0654 0F90 pop __tmp_reg__1338 .L61:1339 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__1340 065a 1092 0000 sts MesswertNick,__zero_reg__1341 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__1342 0662 1092 0000 sts MesswertRoll,__zero_reg__1343 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__1344 066a 1092 0000 sts MesswertGier,__zero_reg__1345 066e 84E6 ldi r24,lo8(100)1346 0670 90E0 ldi r25,hi8(100)1347 0672 0E94 0000 call Delay_ms_Mess1348 0676 8091 0000 lds r24,AdWertAccNick1349 067a 9091 0000 lds r25,(AdWertAccNick)+11350 067e 9C01 movw r18,r241351 0680 220F lsl r181352 0682 331F rol r191353 0684 220F lsl r181354 0686 331F rol r191355 0688 280F add r18,r241356 068a 391F adc r19,r251357 068c 280F add r18,r241358 068e 391F adc r19,r251359 0690 3093 0000 sts (Mittelwert_AccNick)+1,r191360 0694 2093 0000 sts Mittelwert_AccNick,r181361 0698 8091 0000 lds r24,AdWertAccRoll1362 069c 9091 0000 lds r25,(AdWertAccRoll)+11363 06a0 8C01 movw r16,r241364 06a2 000F lsl r161365 06a4 111F rol r171366 06a6 000F lsl r161367 06a8 111F rol r171368 06aa 080F add r16,r241369 06ac 191F adc r17,r251370 06ae 080F add r16,r241371 06b0 191F adc r17,r251372 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r171373 06b6 0093 0000 sts Mittelwert_AccRoll,r161374 06ba 8091 0000 lds r24,EE_Parameter+281375 06be C82E mov r12,r241376 06c0 DD24 clr r131377 06c2 EE24 clr r141378 06c4 FF24 clr r151379 06c6 4427 clr r201380 06c8 37FD sbrc r19,71381 06ca 4095 com r201382 06cc 542F mov r21,r201383 06ce C701 movw r24,r141384 06d0 B601 movw r22,r121385 06d2 0E94 0000 call __mulsi31386 06d6 4B01 movw r8,r221387 06d8 5C01 movw r10,r241388 06da 6093 0000 sts IntegralNick,r221389 06de 7093 0000 sts (IntegralNick)+1,r231390 06e2 8093 0000 sts (IntegralNick)+2,r241391 06e6 9093 0000 sts (IntegralNick)+3,r251392 06ea 9801 movw r18,r161393 06ec 4427 clr r201394 06ee 37FD sbrc r19,71395 06f0 4095 com r201396 06f2 542F mov r21,r201397 06f4 C701 movw r24,r141398 06f6 B601 movw r22,r121399 06f8 0E94 0000 call __mulsi31400 06fc DC01 movw r26,r241401 06fe CB01 movw r24,r221402 0700 8093 0000 sts IntegralRoll,r241403 0704 9093 0000 sts (IntegralRoll)+1,r251404 0708 A093 0000 sts (IntegralRoll)+2,r261405 070c B093 0000 sts (IntegralRoll)+3,r271406 0710 8092 0000 sts Mess_IntegralNick,r81407 0714 9092 0000 sts (Mess_IntegralNick)+1,r91408 0718 A092 0000 sts (Mess_IntegralNick)+2,r101409 071c B092 0000 sts (Mess_IntegralNick)+3,r111410 0720 8093 0000 sts Mess_IntegralRoll,r241411 0724 9093 0000 sts (Mess_IntegralRoll)+1,r251412 0728 A093 0000 sts (Mess_IntegralRoll)+2,r261413 072c B093 0000 sts (Mess_IntegralRoll)+3,r271414 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__1415 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1416 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1417 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1418 0740 8091 0000 lds r24,Luftdruck1419 0744 9091 0000 lds r25,(Luftdruck)+11420 0748 A091 0000 lds r26,(Luftdruck)+21421 074c B091 0000 lds r27,(Luftdruck)+31422 0750 9093 0000 sts (StartLuftdruck)+1,r251423 0754 8093 0000 sts StartLuftdruck,r241424 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__1425 075c 1092 0000 sts VarioMeter,__zero_reg__1426 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1427 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1428 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1429 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1430 0770 0091 0000 lds r16,KompassValue1431 0774 1091 0000 lds r17,(KompassValue)+11432 0778 1093 0000 sts (KompassSollWert)+1,r171433 077c 0093 0000 sts KompassSollWert,r161434 0780 84E6 ldi r24,lo8(100)1435 0782 90E0 ldi r25,hi8(100)1436 0784 9093 0000 sts (KompassSignalSchlecht)+1,r251437 0788 8093 0000 sts KompassSignalSchlecht,r241438 078c 82E3 ldi r24,lo8(50)1439 078e 90E0 ldi r25,hi8(50)1440 0790 9093 0000 sts (beeptime)+1,r251441 0794 8093 0000 sts beeptime,r241442 0798 8091 0000 lds r24,EE_Parameter+651443 079c 9927 clr r251444 079e AA27 clr r261445 07a0 BB27 clr r271446 07a2 BC01 movw r22,r241447 07a4 CD01 movw r24,r261448 07a6 24EC ldi r18,lo8(2500)1449 07a8 39E0 ldi r19,hi8(2500)1450 07aa 40E0 ldi r20,hlo8(2500)1451 07ac 50E0 ldi r21,hhi8(2500)1452 07ae 0E94 0000 call __mulsi31453 07b2 DC01 movw r26,r241454 07b4 CB01 movw r24,r221455 07b6 8856 subi r24,lo8(-(15000))1456 07b8 954C sbci r25,hi8(-(15000))1457 07ba AF4F sbci r26,hlo8(-(15000))1458 07bc BF4F sbci r27,hhi8(-(15000))1459 07be 8093 0000 sts Umschlag180Nick,r241460 07c2 9093 0000 sts (Umschlag180Nick)+1,r251461 07c6 A093 0000 sts (Umschlag180Nick)+2,r261462 07ca B093 0000 sts (Umschlag180Nick)+3,r271463 07ce 8091 0000 lds r24,EE_Parameter+661464 07d2 9927 clr r251465 07d4 AA27 clr r261466 07d6 BB27 clr r271467 07d8 BC01 movw r22,r241468 07da CD01 movw r24,r261469 07dc 0E94 0000 call __mulsi31470 07e0 DC01 movw r26,r241471 07e2 CB01 movw r24,r221472 07e4 8856 subi r24,lo8(-(15000))1473 07e6 954C sbci r25,hi8(-(15000))1474 07e8 AF4F sbci r26,hlo8(-(15000))1475 07ea BF4F sbci r27,hhi8(-(15000))1476 07ec 8093 0000 sts Umschlag180Roll,r241477 07f0 9093 0000 sts (Umschlag180Roll)+1,r251478 07f4 A093 0000 sts (Umschlag180Roll)+2,r261479 07f8 B093 0000 sts (Umschlag180Roll)+3,r271480 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1481 0800 1092 0000 sts ExternHoehenValue,__zero_reg__1482 0804 C801 movw r24,r161483 0806 AA27 clr r261484 0808 97FD sbrc r25,71485 080a A095 com r261486 080c BA2F mov r27,r261487 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR1488 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11489 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21490 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31491 081e BC01 movw r22,r241492 0820 CD01 movw r24,r261493 0822 0E94 0000 call __mulsi31494 0826 DC01 movw r26,r241495 0828 CB01 movw r24,r221496 082a 8093 0000 sts ErsatzKompass,r241497 082e 9093 0000 sts (ErsatzKompass)+1,r251498 0832 A093 0000 sts (ErsatzKompass)+2,r261499 0836 B093 0000 sts (ErsatzKompass)+3,r271500 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1501 083e 1092 0000 sts GierGyroFehler,__zero_reg__1502 0842 0E94 0000 call LED_Init1503 0846 8091 0000 lds r24,FC_StatusFlags1504 084a 8460 ori r24,lo8(4)1505 084c 8093 0000 sts FC_StatusFlags,r241506 0850 8FEF ldi r24,lo8(-1)1507 0852 8093 0000 sts FromNaviCtrl_Value,r241508 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1509 085a 80E2 ldi r24,lo8(32)1510 085c 8093 0000 sts FromNaviCtrl_Value+2,r241511 0860 C0E0 ldi r28,lo8(Poti)1512 0862 D0E0 ldi r29,hi8(Poti)1513 0864 A0E0 ldi r26,lo8(EE_Parameter+5)1514 0866 B0E0 ldi r27,hi8(EE_Parameter+5)1515 0868 07E0 ldi r16,lo8(7)1516 .L69:1517 086a 8D91 ld r24,X+1518 086c E82F mov r30,r241519 086e FF27 clr r311520 0870 EE0F add r30,r301521 0872 FF1F adc r31,r311522 0874 E050 subi r30,lo8(-(PPM_in))1523 0876 F040 sbci r31,hi8(-(PPM_in))1524 0878 8081 ld r24,Z1525 087a 9181 ldd r25,Z+11526 087c 8158 subi r24,lo8(-(127))1527 087e 8993 st Y+,r241528 0880 0150 subi r16,lo8(-(-1))1529 0882 07FF sbrs r16,71530 0884 00C0 rjmp .L691531 0886 84E6 ldi r24,lo8(100)1532 0888 8093 0000 sts SenderOkay,r241533 088c 8091 0000 lds r24,ServoActive1534 0890 8823 tst r241535 0892 01F0 breq .L701536 0894 579A sbi 42-0x20,71537 0896 00C0 rjmp .L711538 .L70:1539 0898 80E0 ldi r24,lo8(4352)1540 089a 91E1 ldi r25,hi8(4352)1541 089c 9093 0000 sts (NickServoValue)+1,r251542 08a0 8093 0000 sts NickServoValue,r241543 .L71:1544 08a4 8091 0000 lds r24,AdNeutralNick1545 08a8 9091 0000 lds r25,(AdNeutralNick)+11546 08ac 8056 subi r24,lo8(-(-2400))1547 08ae 9940 sbci r25,hi8(-(-2400))1548 08b0 815C subi r24,lo8(11201)1549 08b2 9B42 sbci r25,hi8(11201)1550 08b4 00F0 brlo .L721551 08b6 8091 0000 lds r24,VersionInfo+51552 08ba 8160 ori r24,lo8(1)1553 08bc 8093 0000 sts VersionInfo+5,r241554 .L72:1555 08c0 8091 0000 lds r24,AdNeutralRoll1556 08c4 9091 0000 lds r25,(AdNeutralRoll)+11557 08c8 8056 subi r24,lo8(-(-2400))1558 08ca 9940 sbci r25,hi8(-(-2400))1559 08cc 815C subi r24,lo8(11201)1560 08ce 9B42 sbci r25,hi8(11201)1561 08d0 00F0 brlo .L731562 08d2 8091 0000 lds r24,VersionInfo+51563 08d6 8260 ori r24,lo8(2)1564 08d8 8093 0000 sts VersionInfo+5,r241565 .L73:1566 08dc 8091 0000 lds r24,AdNeutralGier1567 08e0 9091 0000 lds r25,(AdNeutralGier)+11568 08e4 8C52 subi r24,lo8(-(-300))1569 08e6 9140 sbci r25,hi8(-(-300))1570 08e8 8957 subi r24,lo8(1401)1571 08ea 9540 sbci r25,hi8(1401)1572 08ec 00F0 brlo .L741573 08ee 8091 0000 lds r24,VersionInfo+51574 08f2 8460 ori r24,lo8(4)1575 08f4 8093 0000 sts VersionInfo+5,r241576 .L74:1577 08f8 8091 0000 lds r24,NeutralAccX1578 08fc 9091 0000 lds r25,(NeutralAccX)+11579 0900 8C52 subi r24,lo8(-(-300))1580 0902 9140 sbci r25,hi8(-(-300))1581 0904 835C subi r24,lo8(451)1582 0906 9140 sbci r25,hi8(451)1583 0908 00F0 brlo .L751584 090a 8091 0000 lds r24,VersionInfo+51585 090e 8860 ori r24,lo8(8)1586 0910 8093 0000 sts VersionInfo+5,r241587 .L75:1588 0914 8091 0000 lds r24,NeutralAccY1589 0918 9091 0000 lds r25,(NeutralAccY)+11590 091c 8C52 subi r24,lo8(-(-300))1591 091e 9140 sbci r25,hi8(-(-300))1592 0920 835C subi r24,lo8(451)1593 0922 9140 sbci r25,hi8(451)1594 0924 00F0 brlo .L761595 0926 8091 0000 lds r24,VersionInfo+51596 092a 8061 ori r24,lo8(16)1597 092c 8093 0000 sts VersionInfo+5,r241598 .L76:1599 0930 8091 0000 lds r24,NeutralAccZ1600 0934 9091 0000 lds r25,(NeutralAccZ)+11601 0938 8050 subi r24,lo8(-(-512))1602 093a 9240 sbci r25,hi8(-(-512))1603 093c 8355 subi r24,lo8(339)1604 093e 9140 sbci r25,hi8(339)1605 0940 00F0 brlo .L771606 0942 8091 0000 lds r24,VersionInfo+51607 0946 8062 ori r24,lo8(32)1608 0948 8093 0000 sts VersionInfo+5,r241609 .L77:1610 094c 86E4 ldi r24,lo8(70)1611 094e 8093 0000 sts carefree_old,r241612 0952 0E94 0000 call LIBFC_HoTT_Clear1613 /* epilogue: frame size=0 */1614 0956 ECE0 ldi r30,121615 0958 CDB7 in r28,__SP_L__1616 095a DEB7 in r29,__SP_H__1617 095c 0C94 0000 jmp __epilogue_restores__+121618 /* epilogue end (size=5) */1619 /* function SetNeutral size 705 (694) */1621 .lcomm tmpl.27,41622 .lcomm tmpl2.28,41623 .lcomm tmpl3.29,41624 .lcomm tmpl4.30,41625 .lcomm oldNick.31,21626 .lcomm oldRoll.32,21627 .lcomm d2Roll.33,21628 .lcomm d2Nick.34,21629 .global Mittelwert1631 Mittelwert:1632 /* prologue: frame size=19 */1633 0960 A3E1 ldi r26,lo8(19)1634 0962 B0E0 ldi r27,hi8(19)1635 0964 E0E0 ldi r30,pm_lo8(1f)1636 0966 F0E0 ldi r31,pm_hi8(1f)1637 0968 0C94 0000 jmp __prologue_saves__+01638 1:1639 /* prologue end (size=6) */1640 096c 8091 0000 lds r24,AdNeutralGier1641 0970 9091 0000 lds r25,(AdNeutralGier)+11642 0974 2091 0000 lds r18,AdWertGier1643 0978 3091 0000 lds r19,(AdWertGier)+11644 097c 821B sub r24,r181645 097e 930B sbc r25,r191646 0980 9093 0000 sts (MesswertGier)+1,r251647 0984 8093 0000 sts MesswertGier,r241648 0988 8091 0000 lds r24,AdWertNickFilter1649 098c 9091 0000 lds r25,(AdWertNickFilter)+11650 0990 97FD sbrc r25,71651 0992 0796 adiw r24,71652 .L83:1653 0994 9C01 movw r18,r241654 0996 13E0 ldi r17,31655 0998 3595 1: asr r191656 099a 2795 ror r181657 099c 1A95 dec r171658 099e 01F4 brne 1b1659 09a0 3093 0000 sts (MesswertNick)+1,r191660 09a4 2093 0000 sts MesswertNick,r181661 09a8 8091 0000 lds r24,AdWertRollFilter1662 09ac 9091 0000 lds r25,(AdWertRollFilter)+11663 09b0 97FD sbrc r25,71664 09b2 0796 adiw r24,71665 .L84:1666 09b4 B3E0 ldi r27,31667 09b6 9595 1: asr r251668 09b8 8795 ror r241669 09ba BA95 dec r271670 09bc 01F4 brne 1b1671 09be 9093 0000 sts (MesswertRoll)+1,r251672 09c2 8093 0000 sts MesswertRoll,r241673 09c6 3093 0000 sts (RohMesswertNick)+1,r191674 09ca 2093 0000 sts RohMesswertNick,r181675 09ce 9093 0000 sts (RohMesswertRoll)+1,r251676 09d2 8093 0000 sts RohMesswertRoll,r241677 09d6 8091 0000 lds r24,Mittelwert_AccNick1678 09da 9091 0000 lds r25,(Mittelwert_AccNick)+11679 09de AC01 movw r20,r241680 09e0 440F lsl r201681 09e2 551F rol r211682 09e4 480F add r20,r241683 09e6 591F adc r21,r251684 09e8 2091 0000 lds r18,AdWertAccNick1685 09ec 3091 0000 lds r19,(AdWertAccNick)+11686 09f0 C901 movw r24,r181687 09f2 880F lsl r241688 09f4 991F rol r251689 09f6 880F lsl r241690 09f8 991F rol r251691 09fa 820F add r24,r181692 09fc 931F adc r25,r191693 09fe 820F add r24,r181694 0a00 931F adc r25,r191695 0a02 480F add r20,r241696 0a04 591F adc r21,r251697 0a06 57FF sbrs r21,71698 0a08 00C0 rjmp .L851699 0a0a 4D5F subi r20,lo8(-(3))1700 0a0c 5F4F sbci r21,hi8(-(3))1701 .L85:1702 0a0e 5595 asr r211703 0a10 4795 ror r201704 0a12 5595 asr r211705 0a14 4795 ror r201706 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r211707 0a1a 4093 0000 sts Mittelwert_AccNick,r201708 0a1e 8091 0000 lds r24,Mittelwert_AccRoll1709 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+11710 0a26 AC01 movw r20,r241711 0a28 440F lsl r201712 0a2a 551F rol r211713 0a2c 480F add r20,r241714 0a2e 591F adc r21,r251715 0a30 2091 0000 lds r18,AdWertAccRoll1716 0a34 3091 0000 lds r19,(AdWertAccRoll)+11717 0a38 C901 movw r24,r181718 0a3a 880F lsl r241719 0a3c 991F rol r251720 0a3e 880F lsl r241721 0a40 991F rol r251722 0a42 820F add r24,r181723 0a44 931F adc r25,r191724 0a46 820F add r24,r181725 0a48 931F adc r25,r191726 0a4a 480F add r20,r241727 0a4c 591F adc r21,r251728 0a4e 57FF sbrs r21,71729 0a50 00C0 rjmp .L861730 0a52 4D5F subi r20,lo8(-(3))1731 0a54 5F4F sbci r21,hi8(-(3))1732 .L86:1733 0a56 5595 asr r211734 0a58 4795 ror r201735 0a5a 5595 asr r211736 0a5c 4795 ror r201737 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r211738 0a62 4093 0000 sts Mittelwert_AccRoll,r201739 0a66 2091 0000 lds r18,AdWertAccNick1740 0a6a 3091 0000 lds r19,(AdWertAccNick)+11741 0a6e C901 movw r24,r181742 0a70 880F lsl r241743 0a72 991F rol r251744 0a74 880F lsl r241745 0a76 991F rol r251746 0a78 820F add r24,r181747 0a7a 931F adc r25,r191748 0a7c 820F add r24,r181749 0a7e 931F adc r25,r191750 0a80 9C01 movw r18,r241751 0a82 4427 clr r201752 0a84 37FD sbrc r19,71753 0a86 4095 com r201754 0a88 542F mov r21,r201755 0a8a 8091 0000 lds r24,IntegralAccNick1756 0a8e 9091 0000 lds r25,(IntegralAccNick)+11757 0a92 A091 0000 lds r26,(IntegralAccNick)+21758 0a96 B091 0000 lds r27,(IntegralAccNick)+31759 0a9a 820F add r24,r181760 0a9c 931F adc r25,r191761 0a9e A41F adc r26,r201762 0aa0 B51F adc r27,r211763 0aa2 8093 0000 sts IntegralAccNick,r241764 0aa6 9093 0000 sts (IntegralAccNick)+1,r251765 0aaa A093 0000 sts (IntegralAccNick)+2,r261766 0aae B093 0000 sts (IntegralAccNick)+3,r271767 0ab2 2091 0000 lds r18,AdWertAccRoll1768 0ab6 3091 0000 lds r19,(AdWertAccRoll)+11769 0aba C901 movw r24,r181770 0abc 880F lsl r241771 0abe 991F rol r251772 0ac0 880F lsl r241773 0ac2 991F rol r251774 0ac4 820F add r24,r181775 0ac6 931F adc r25,r191776 0ac8 820F add r24,r181777 0aca 931F adc r25,r191778 0acc 9C01 movw r18,r241779 0ace 4427 clr r201780 0ad0 37FD sbrc r19,71781 0ad2 4095 com r201782 0ad4 542F mov r21,r201783 0ad6 8091 0000 lds r24,IntegralAccRoll1784 0ada 9091 0000 lds r25,(IntegralAccRoll)+11785 0ade A091 0000 lds r26,(IntegralAccRoll)+21786 0ae2 B091 0000 lds r27,(IntegralAccRoll)+31787 0ae6 820F add r24,r181788 0ae8 931F adc r25,r191789 0aea A41F adc r26,r201790 0aec B51F adc r27,r211791 0aee 8093 0000 sts IntegralAccRoll,r241792 0af2 9093 0000 sts (IntegralAccRoll)+1,r251793 0af6 A093 0000 sts (IntegralAccRoll)+2,r261794 0afa B093 0000 sts (IntegralAccRoll)+3,r271795 0afe 8091 0000 lds r24,NaviAccNick1796 0b02 9091 0000 lds r25,(NaviAccNick)+11797 0b06 2091 0000 lds r18,AdWertAccNick1798 0b0a 3091 0000 lds r19,(AdWertAccNick)+11799 0b0e 820F add r24,r181800 0b10 931F adc r25,r191801 0b12 9093 0000 sts (NaviAccNick)+1,r251802 0b16 8093 0000 sts NaviAccNick,r241803 0b1a 8091 0000 lds r24,NaviAccRoll1804 0b1e 9091 0000 lds r25,(NaviAccRoll)+11805 0b22 2091 0000 lds r18,AdWertAccRoll1806 0b26 3091 0000 lds r19,(AdWertAccRoll)+11807 0b2a 820F add r24,r181808 0b2c 931F adc r25,r191809 0b2e 9093 0000 sts (NaviAccRoll)+1,r251810 0b32 8093 0000 sts NaviAccRoll,r241811 0b36 8091 0000 lds r24,NaviCntAcc1812 0b3a 9091 0000 lds r25,(NaviCntAcc)+11813 0b3e 0196 adiw r24,11814 0b40 9093 0000 sts (NaviCntAcc)+1,r251815 0b44 8093 0000 sts NaviCntAcc,r241816 0b48 8091 0000 lds r24,Aktuell_az1817 0b4c 9091 0000 lds r25,(Aktuell_az)+11818 0b50 2091 0000 lds r18,NeutralAccZ1819 0b54 3091 0000 lds r19,(NeutralAccZ)+11820 0b58 821B sub r24,r181821 0b5a 930B sbc r25,r191822 0b5c 9C01 movw r18,r241823 0b5e 4427 clr r201824 0b60 37FD sbrc r19,71825 0b62 4095 com r201826 0b64 542F mov r21,r201827 0b66 8091 0000 lds r24,IntegralAccZ1828 0b6a 9091 0000 lds r25,(IntegralAccZ)+11829 0b6e A091 0000 lds r26,(IntegralAccZ)+21830 0b72 B091 0000 lds r27,(IntegralAccZ)+31831 0b76 820F add r24,r181832 0b78 931F adc r25,r191833 0b7a A41F adc r26,r201834 0b7c B51F adc r27,r211835 0b7e 8093 0000 sts IntegralAccZ,r241836 0b82 9093 0000 sts (IntegralAccZ)+1,r251837 0b86 A093 0000 sts (IntegralAccZ)+2,r261838 0b8a B093 0000 sts (IntegralAccZ)+3,r271839 0b8e 8FEC ldi r24,lo8(-49)1840 0b90 8093 7A00 sts 122,r241841 0b94 1092 0000 sts AdReady,__zero_reg__1842 0b98 2091 0000 lds r18,Mess_IntegralRoll1843 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+11844 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+21845 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+31846 0ba8 2987 std Y+9,r181847 0baa 3A87 std Y+10,r191848 0bac 4B87 std Y+11,r201849 0bae 5C87 std Y+12,r211850 0bb0 2954 subi r18,lo8(93001)1851 0bb2 3B46 sbci r19,hi8(93001)1852 0bb4 4140 sbci r20,hlo8(93001)1853 0bb6 5040 sbci r21,hhi8(93001)1854 0bb8 04F0 brlt .L871855 0bba 28E4 ldi r18,lo8(93000)1856 0bbc 3BE6 ldi r19,hi8(93000)1857 0bbe 41E0 ldi r20,hlo8(93000)1858 0bc0 50E0 ldi r21,hhi8(93000)1859 0bc2 00C0 rjmp .L1671860 .L87:1861 0bc4 8985 ldd r24,Y+91862 0bc6 9A85 ldd r25,Y+101863 0bc8 AB85 ldd r26,Y+111864 0bca BC85 ldd r27,Y+121865 0bcc 885B subi r24,lo8(-93000)1866 0bce 9449 sbci r25,hi8(-93000)1867 0bd0 AE4F sbci r26,hlo8(-93000)1868 0bd2 BF4F sbci r27,hhi8(-93000)1869 0bd4 04F4 brge .L891870 0bd6 28EB ldi r18,lo8(-93000)1871 0bd8 34E9 ldi r19,hi8(-93000)1872 0bda 4EEF ldi r20,hlo8(-93000)1873 0bdc 5FEF ldi r21,hhi8(-93000)1874 .L167:1875 0bde 2D83 std Y+5,r181876 0be0 3E83 std Y+6,r191877 0be2 4F83 std Y+7,r201878 0be4 5887 std Y+8,r211879 0be6 00C0 rjmp .L881880 .L89:1881 0be8 8985 ldd r24,Y+91882 0bea 9A85 ldd r25,Y+101883 0bec AB85 ldd r26,Y+111884 0bee BC85 ldd r27,Y+121885 0bf0 8D83 std Y+5,r241886 0bf2 9E83 std Y+6,r251887 0bf4 AF83 std Y+7,r261888 0bf6 B887 std Y+8,r271889 .L88:1890 0bf8 2091 0000 lds r18,Mess_IntegralNick1891 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+11892 0c00 4091 0000 lds r20,(Mess_IntegralNick)+21893 0c04 5091 0000 lds r21,(Mess_IntegralNick)+31894 0c08 2D87 std Y+13,r181895 0c0a 3E87 std Y+14,r191896 0c0c 4F87 std Y+15,r201897 0c0e 588B std Y+16,r211898 0c10 2954 subi r18,lo8(93001)1899 0c12 3B46 sbci r19,hi8(93001)1900 0c14 4140 sbci r20,hlo8(93001)1901 0c16 5040 sbci r21,hhi8(93001)1902 0c18 04F0 brlt .L911903 0c1a 28E4 ldi r18,lo8(93000)1904 0c1c 3BE6 ldi r19,hi8(93000)1905 0c1e 41E0 ldi r20,hlo8(93000)1906 0c20 50E0 ldi r21,hhi8(93000)1907 0c22 00C0 rjmp .L1681908 .L91:1909 0c24 8D85 ldd r24,Y+131910 0c26 9E85 ldd r25,Y+141911 0c28 AF85 ldd r26,Y+151912 0c2a B889 ldd r27,Y+161913 0c2c 885B subi r24,lo8(-93000)1914 0c2e 9449 sbci r25,hi8(-93000)1915 0c30 AE4F sbci r26,hlo8(-93000)1916 0c32 BF4F sbci r27,hhi8(-93000)1917 0c34 04F4 brge .L931918 0c36 28EB ldi r18,lo8(-93000)1919 0c38 34E9 ldi r19,hi8(-93000)1920 0c3a 4EEF ldi r20,hlo8(-93000)1921 0c3c 5FEF ldi r21,hhi8(-93000)1922 .L168:1923 0c3e 2983 std Y+1,r181924 0c40 3A83 std Y+2,r191925 0c42 4B83 std Y+3,r201926 0c44 5C83 std Y+4,r211927 0c46 00C0 rjmp .L921928 .L93:1929 0c48 8D85 ldd r24,Y+131930 0c4a 9E85 ldd r25,Y+141931 0c4c AF85 ldd r26,Y+151932 0c4e B889 ldd r27,Y+161933 0c50 8983 std Y+1,r241934 0c52 9A83 std Y+2,r251935 0c54 AB83 std Y+3,r261936 0c56 BC83 std Y+4,r271937 .L92:1938 0c58 A091 0000 lds r26,MesswertGier1939 0c5c B091 0000 lds r27,(MesswertGier)+11940 0c60 BB8B std Y+19,r271941 0c62 AA8B std Y+18,r261942 0c64 FD01 movw r30,r261943 0c66 CF01 movw r24,r301944 0c68 AA27 clr r261945 0c6a 97FD sbrc r25,71946 0c6c A095 com r261947 0c6e BA2F mov r27,r261948 0c70 A090 0000 lds r10,Mess_Integral_Gier1949 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+11950 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+21951 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+31952 0c80 A80E add r10,r241953 0c82 B91E adc r11,r251954 0c84 CA1E adc r12,r261955 0c86 DB1E adc r13,r271956 0c88 A092 0000 sts Mess_Integral_Gier,r101957 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r111958 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r121959 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r131960 0c98 E090 0000 lds r14,ErsatzKompass1961 0c9c F090 0000 lds r15,(ErsatzKompass)+11962 0ca0 0091 0000 lds r16,(ErsatzKompass)+21963 0ca4 1091 0000 lds r17,(ErsatzKompass)+31964 0ca8 E80E add r14,r241965 0caa F91E adc r15,r251966 0cac 0A1F adc r16,r261967 0cae 1B1F adc r17,r271968 0cb0 E092 0000 sts ErsatzKompass,r141969 0cb4 F092 0000 sts (ErsatzKompass)+1,r151970 0cb8 0093 0000 sts (ErsatzKompass)+2,r161971 0cbc 1093 0000 sts (ErsatzKompass)+3,r171972 0cc0 F091 0000 lds r31,Looping_Nick1973 0cc4 F98B std Y+17,r311974 0cc6 FF23 tst r311975 0cc8 01F0 breq .+21976 0cca 00C0 rjmp .L951977 0ccc 8091 0000 lds r24,Looping_Roll1978 0cd0 8823 tst r241979 0cd2 01F0 breq .+21980 0cd4 00C0 rjmp .L951981 0cd6 8091 0000 lds r24,Parameter_GlobalConfig1982 0cda 86FF sbrs r24,61983 0cdc 00C0 rjmp .L951984 0cde 8091 0000 lds r24,MesswertRoll1985 0ce2 9091 0000 lds r25,(MesswertRoll)+11986 0ce6 AA27 clr r261987 0ce8 97FD sbrc r25,71988 0cea A095 com r261989 0cec BA2F mov r27,r261990 0cee BC01 movw r22,r241991 0cf0 CD01 movw r24,r261992 0cf2 2981 ldd r18,Y+11993 0cf4 3A81 ldd r19,Y+21994 0cf6 4B81 ldd r20,Y+31995 0cf8 5C81 ldd r21,Y+41996 0cfa 0E94 0000 call __mulsi31997 0cfe 9B01 movw r18,r221998 0d00 AC01 movw r20,r241999 0d02 97FF sbrs r25,72000 0d04 00C0 rjmp .L962001 0d06 2150 subi r18,lo8(-(2047))2002 0d08 384F sbci r19,hi8(-(2047))2003 0d0a 4F4F sbci r20,hlo8(-(2047))2004 0d0c 5F4F sbci r21,hhi8(-(2047))2005 .L96:2006 0d0e BBE0 ldi r27,112007 0d10 5595 1: asr r212008 0d12 4795 ror r202009 0d14 3795 ror r192010 0d16 2795 ror r182011 0d18 BA95 dec r272012 0d1a 01F4 brne 1b2013 0d1c 8091 0000 lds r24,Parameter_AchsKopplung22014 0d20 682E mov r6,r242015 0d22 7724 clr r72016 0d24 8824 clr r82017 0d26 9924 clr r92018 0d28 CA01 movw r24,r202019 0d2a B901 movw r22,r182020 0d2c A401 movw r20,r82021 0d2e 9301 movw r18,r62022 0d30 0E94 0000 call __mulsi32023 0d34 DC01 movw r26,r242024 0d36 CB01 movw r24,r222025 0d38 8093 0000 sts tmpl3.29,r242026 0d3c 9093 0000 sts (tmpl3.29)+1,r252027 0d40 A093 0000 sts (tmpl3.29)+2,r262028 0d44 B093 0000 sts (tmpl3.29)+3,r272029 0d48 B7FF sbrs r27,72030 0d4a 00C0 rjmp .L972031 0d4c 8150 subi r24,lo8(-(4095))2032 0d4e 904F sbci r25,hi8(-(4095))2033 0d50 AF4F sbci r26,hlo8(-(4095))2034 0d52 BF4F sbci r27,hhi8(-(4095))2035 .L97:2036 0d54 1C01 movw r2,r242037 0d56 2D01 movw r4,r262038 0d58 ACE0 ldi r26,122039 0d5a 5594 1: asr r52040 0d5c 4794 ror r42041 0d5e 3794 ror r32042 0d60 2794 ror r22043 0d62 AA95 dec r262044 0d64 01F4 brne 1b2045 0d66 2092 0000 sts tmpl3.29,r22046 0d6a 3092 0000 sts (tmpl3.29)+1,r32047 0d6e 4092 0000 sts (tmpl3.29)+2,r42048 0d72 5092 0000 sts (tmpl3.29)+3,r52049 0d76 8091 0000 lds r24,MesswertNick2050 0d7a 9091 0000 lds r25,(MesswertNick)+12051 0d7e AA27 clr r262052 0d80 97FD sbrc r25,72053 0d82 A095 com r262054 0d84 BA2F mov r27,r262055 0d86 BC01 movw r22,r242056 0d88 CD01 movw r24,r262057 0d8a 2D81 ldd r18,Y+52058 0d8c 3E81 ldd r19,Y+62059 0d8e 4F81 ldd r20,Y+72060 0d90 5885 ldd r21,Y+82061 0d92 0E94 0000 call __mulsi32062 0d96 97FF sbrs r25,72063 0d98 00C0 rjmp .L982064 0d9a 6150 subi r22,lo8(-(2047))2065 0d9c 784F sbci r23,hi8(-(2047))2066 0d9e 8F4F sbci r24,hlo8(-(2047))2067 0da0 9F4F sbci r25,hhi8(-(2047))2068 .L98:2069 0da2 FBE0 ldi r31,112070 0da4 9595 1: asr r252071 0da6 8795 ror r242072 0da8 7795 ror r232073 0daa 6795 ror r222074 0dac FA95 dec r312075 0dae 01F4 brne 1b2076 0db0 A401 movw r20,r82077 0db2 9301 movw r18,r62078 0db4 0E94 0000 call __mulsi32079 0db8 DC01 movw r26,r242080 0dba CB01 movw r24,r222081 0dbc 8093 0000 sts tmpl4.30,r242082 0dc0 9093 0000 sts (tmpl4.30)+1,r252083 0dc4 A093 0000 sts (tmpl4.30)+2,r262084 0dc8 B093 0000 sts (tmpl4.30)+3,r272085 0dcc B7FF sbrs r27,72086 0dce 00C0 rjmp .L992087 0dd0 8150 subi r24,lo8(-(4095))2088 0dd2 904F sbci r25,hi8(-(4095))2089 0dd4 AF4F sbci r26,hlo8(-(4095))2090 0dd6 BF4F sbci r27,hhi8(-(4095))2091 .L99:2092 0dd8 9C01 movw r18,r242093 0dda AD01 movw r20,r262094 0ddc ECE0 ldi r30,122095 0dde 5595 1: asr r212096 0de0 4795 ror r202097 0de2 3795 ror r192098 0de4 2795 ror r182099 0de6 EA95 dec r302100 0de8 01F4 brne 1b2101 0dea 2093 0000 sts tmpl4.30,r182102 0dee 3093 0000 sts (tmpl4.30)+1,r192103 0df2 4093 0000 sts (tmpl4.30)+2,r202104 0df6 5093 0000 sts (tmpl4.30)+3,r212105 0dfa 8091 0000 lds r24,tmpl3.292106 0dfe 9091 0000 lds r25,(tmpl3.29)+12107 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r252108 0e06 8093 0000 sts KopplungsteilNickRoll,r242109 0e0a 8091 0000 lds r24,tmpl4.302110 0e0e 9091 0000 lds r25,(tmpl4.30)+12111 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r252112 0e16 8093 0000 sts KopplungsteilRollNick,r242113 0e1a 2219 sub r18,r22114 0e1c 3309 sbc r19,r32115 0e1e 4409 sbc r20,r42116 0e20 5509 sbc r21,r52117 0e22 2093 0000 sts tmpl4.30,r182118 0e26 3093 0000 sts (tmpl4.30)+1,r192119 0e2a 4093 0000 sts (tmpl4.30)+2,r202120 0e2e 5093 0000 sts (tmpl4.30)+3,r212121 0e32 E20E add r14,r182122 0e34 F31E adc r15,r192123 0e36 041F adc r16,r202124 0e38 151F adc r17,r212125 0e3a E092 0000 sts ErsatzKompass,r142126 0e3e F092 0000 sts (ErsatzKompass)+1,r152127 0e42 0093 0000 sts (ErsatzKompass)+2,r162128 0e46 1093 0000 sts (ErsatzKompass)+3,r172129 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection2130 0e4e 8823 tst r242131 0e50 01F4 brne .L1002132 0e52 57FF sbrs r21,72133 0e54 00C0 rjmp .L1012134 0e56 2F5F subi r18,lo8(-(1))2135 0e58 3F4F sbci r19,hi8(-(1))2136 0e5a 4F4F sbci r20,hlo8(-(1))2137 0e5c 5F4F sbci r21,hhi8(-(1))2138 .L101:2139 0e5e 5595 asr r212140 0e60 4795 ror r202141 0e62 3795 ror r192142 0e64 2795 ror r182143 0e66 A21A sub r10,r182144 0e68 B30A sbc r11,r192145 0e6a C40A sbc r12,r202146 0e6c D50A sbc r13,r212147 0e6e A092 0000 sts Mess_Integral_Gier,r102148 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r112149 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r122150 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r132151 .L100:2152 0e7e 2A89 ldd r18,Y+182153 0e80 3B89 ldd r19,Y+192154 0e82 7901 movw r14,r182155 0e84 0027 clr r162156 0e86 F7FC sbrc r15,72157 0e88 0095 com r162158 0e8a 102F mov r17,r162159 0e8c 8091 0000 lds r24,tmpl4.302160 0e90 9091 0000 lds r25,(tmpl4.30)+12161 0e94 A091 0000 lds r26,(tmpl4.30)+22162 0e98 B091 0000 lds r27,(tmpl4.30)+32163 0e9c E80E add r14,r242164 0e9e F91E adc r15,r252165 0ea0 0A1F adc r16,r262166 0ea2 1B1F adc r17,r272167 0ea4 C801 movw r24,r162168 0ea6 B701 movw r22,r142169 0ea8 2981 ldd r18,Y+12170 0eaa 3A81 ldd r19,Y+22171 0eac 4B81 ldd r20,Y+32172 0eae 5C81 ldd r21,Y+42173 0eb0 0E94 0000 call __mulsi32174 0eb4 9B01 movw r18,r222175 0eb6 AC01 movw r20,r242176 0eb8 97FF sbrs r25,72177 0eba 00C0 rjmp .L1022178 0ebc 2150 subi r18,lo8(-(2047))2179 0ebe 384F sbci r19,hi8(-(2047))2180 0ec0 4F4F sbci r20,hlo8(-(2047))2181 0ec2 5F4F sbci r21,hhi8(-(2047))2182 .L102:2183 0ec4 6BE0 ldi r22,112184 0ec6 5595 1: asr r212185 0ec8 4795 ror r202186 0eca 3795 ror r192187 0ecc 2795 ror r182188 0ece 6A95 dec r222189 0ed0 01F4 brne 1b2190 0ed2 8091 0000 lds r24,Parameter_AchsKopplung12191 0ed6 A82E mov r10,r242192 0ed8 BB24 clr r112193 0eda CC24 clr r122194 0edc DD24 clr r132195 0ede CA01 movw r24,r202196 0ee0 B901 movw r22,r182197 0ee2 A601 movw r20,r122198 0ee4 9501 movw r18,r102199 0ee6 0E94 0000 call __mulsi32200 0eea DC01 movw r26,r242201 0eec CB01 movw r24,r222202 0eee 8093 0000 sts tmpl.27,r242203 0ef2 9093 0000 sts (tmpl.27)+1,r252204 0ef6 A093 0000 sts (tmpl.27)+2,r262205 0efa B093 0000 sts (tmpl.27)+3,r272206 0efe B7FF sbrs r27,72207 0f00 00C0 rjmp .L1032208 0f02 8150 subi r24,lo8(-(4095))2209 0f04 904F sbci r25,hi8(-(4095))2210 0f06 AF4F sbci r26,hlo8(-(4095))2211 0f08 BF4F sbci r27,hhi8(-(4095))2212 .L103:2213 0f0a 3C01 movw r6,r242214 0f0c 4D01 movw r8,r262215 0f0e 3CE0 ldi r19,122216 0f10 9594 1: asr r92217 0f12 8794 ror r82218 0f14 7794 ror r72219 0f16 6794 ror r62220 0f18 3A95 dec r192221 0f1a 01F4 brne 1b2222 0f1c 6092 0000 sts tmpl.27,r62223 0f20 7092 0000 sts (tmpl.27)+1,r72224 0f24 8092 0000 sts (tmpl.27)+2,r82225 0f28 9092 0000 sts (tmpl.27)+3,r92226 0f2c C801 movw r24,r162227 0f2e B701 movw r22,r142228 0f30 2D81 ldd r18,Y+52229 0f32 3E81 ldd r19,Y+62230 0f34 4F81 ldd r20,Y+72231 0f36 5885 ldd r21,Y+82232 0f38 0E94 0000 call __mulsi32233 0f3c 97FF sbrs r25,72234 0f3e 00C0 rjmp .L1042235 0f40 6150 subi r22,lo8(-(2047))2236 0f42 784F sbci r23,hi8(-(2047))2237 0f44 8F4F sbci r24,hlo8(-(2047))2238 0f46 9F4F sbci r25,hhi8(-(2047))2239 .L104:2240 0f48 2BE0 ldi r18,112241 0f4a 9595 1: asr r252242 0f4c 8795 ror r242243 0f4e 7795 ror r232244 0f50 6795 ror r222245 0f52 2A95 dec r182246 0f54 01F4 brne 1b2247 0f56 A601 movw r20,r122248 0f58 9501 movw r18,r102249 0f5a 0E94 0000 call __mulsi32250 0f5e DC01 movw r26,r242251 0f60 CB01 movw r24,r222252 0f62 8093 0000 sts tmpl2.28,r242253 0f66 9093 0000 sts (tmpl2.28)+1,r252254 0f6a A093 0000 sts (tmpl2.28)+2,r262255 0f6e B093 0000 sts (tmpl2.28)+3,r272256 0f72 B7FF sbrs r27,72257 0f74 00C0 rjmp .L1052258 0f76 8150 subi r24,lo8(-(4095))2259 0f78 904F sbci r25,hi8(-(4095))2260 0f7a AF4F sbci r26,hlo8(-(4095))2261 0f7c BF4F sbci r27,hhi8(-(4095))2262 .L105:2263 0f7e AC01 movw r20,r242264 0f80 BD01 movw r22,r262265 0f82 8CE0 ldi r24,122266 0f84 7595 1: asr r232267 0f86 6795 ror r222268 0f88 5795 ror r212269 0f8a 4795 ror r202270 0f8c 8A95 dec r242271 0f8e 01F4 brne 1b2272 0f90 4093 0000 sts tmpl2.28,r202273 0f94 5093 0000 sts (tmpl2.28)+1,r212274 0f98 6093 0000 sts (tmpl2.28)+2,r222275 0f9c 7093 0000 sts (tmpl2.28)+3,r232276 0fa0 2A89 ldd r18,Y+182277 0fa2 3B89 ldd r19,Y+192278 0fa4 37FF sbrs r19,72279 0fa6 00C0 rjmp .L1072280 0fa8 3095 com r192281 0faa 2195 neg r182282 0fac 3F4F sbci r19,lo8(-1)2283 .L107:2284 0fae 2134 cpi r18,652285 0fb0 3105 cpc r19,__zero_reg__2286 0fb2 04F0 brlt .L1122287 0fb4 D401 movw r26,r82288 0fb6 C301 movw r24,r62289 0fb8 97FE sbrs r9,72290 0fba 00C0 rjmp .L1102291 0fbc B095 com r272292 0fbe A095 com r262293 0fc0 9095 com r252294 0fc2 8195 neg r242295 0fc4 9F4F sbci r25,lo8(-1)2296 0fc6 AF4F sbci r26,lo8(-1)2297 0fc8 BF4F sbci r27,lo8(-1)2298 .L110:2299 0fca 8138 cpi r24,lo8(129)2300 0fcc 9105 cpc r25,__zero_reg__2301 0fce A105 cpc r26,__zero_reg__2302 0fd0 B105 cpc r27,__zero_reg__2303 0fd2 04F4 brge .L1092304 0fd4 DB01 movw r26,r222305 0fd6 CA01 movw r24,r202306 0fd8 77FF sbrs r23,72307 0fda 00C0 rjmp .L1112308 0fdc B095 com r272309 0fde A095 com r262310 0fe0 9095 com r252311 0fe2 8195 neg r242312 0fe4 9F4F sbci r25,lo8(-1)2313 0fe6 AF4F sbci r26,lo8(-1)2314 0fe8 BF4F sbci r27,lo8(-1)2315 .L111:2316 0fea 8138 cpi r24,lo8(129)2317 0fec 9105 cpc r25,__zero_reg__2318 0fee A105 cpc r26,__zero_reg__2319 0ff0 B105 cpc r27,__zero_reg__2320 0ff2 04F0 brlt .L1122321 .L109:2322 0ff4 81E0 ldi r24,lo8(1)2323 0ff6 8093 0000 sts TrichterFlug,r242324 0ffa 00C0 rjmp .L1122325 .L95:2326 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2327 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__2328 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2329 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2330 100c 1092 0000 sts tmpl2.28,__zero_reg__2331 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__2332 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__2333 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__2334 101c 1092 0000 sts tmpl.27,__zero_reg__2335 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__2336 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__2337 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__2338 .L112:2339 102c 8091 0000 lds r24,tmpl2.282340 1030 9091 0000 lds r25,(tmpl2.28)+12341 1034 A091 0000 lds r26,(tmpl2.28)+22342 1038 B091 0000 lds r27,(tmpl2.28)+32343 103c BC01 movw r22,r242344 103e CD01 movw r24,r262345 1040 24E6 ldi r18,lo8(100)2346 1042 30E0 ldi r19,hi8(100)2347 1044 40E0 ldi r20,hlo8(100)2348 1046 50E0 ldi r21,hhi8(100)2349 1048 0E94 0000 call __divmodsi42350 104c E090 0000 lds r14,tmpl.272351 1050 F090 0000 lds r15,(tmpl.27)+12352 1054 E21A sub r14,r182353 1056 F30A sbc r15,r192354 1058 F092 0000 sts (TrimRoll)+1,r152355 105c E092 0000 sts TrimRoll,r142356 1060 8091 0000 lds r24,tmpl.272357 1064 9091 0000 lds r25,(tmpl.27)+12358 1068 A091 0000 lds r26,(tmpl.27)+22359 106c B091 0000 lds r27,(tmpl.27)+32360 1070 BC01 movw r22,r242361 1072 CD01 movw r24,r262362 1074 24E6 ldi r18,lo8(100)2363 1076 30E0 ldi r19,hi8(100)2364 1078 40E0 ldi r20,hlo8(100)2365 107a 50E0 ldi r21,hhi8(100)2366 107c 0E94 0000 call __divmodsi42367 1080 DA01 movw r26,r202368 1082 C901 movw r24,r182369 1084 2091 0000 lds r18,tmpl2.282370 1088 3091 0000 lds r19,(tmpl2.28)+12371 108c 8C01 movw r16,r242372 108e 021B sub r16,r182373 1090 130B sbc r17,r192374 1092 1093 0000 sts (TrimNick)+1,r172375 1096 0093 0000 sts TrimNick,r162376 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR2377 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12378 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22379 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32380 10aa BC01 movw r22,r242381 10ac CD01 movw r24,r262382 10ae 28E6 ldi r18,lo8(360)2383 10b0 31E0 ldi r19,hi8(360)2384 10b2 40E0 ldi r20,hlo8(360)2385 10b4 50E0 ldi r21,hhi8(360)2386 10b6 0E94 0000 call __mulsi32387 10ba 2091 0000 lds r18,ErsatzKompass2388 10be 3091 0000 lds r19,(ErsatzKompass)+12389 10c2 4091 0000 lds r20,(ErsatzKompass)+22390 10c6 5091 0000 lds r21,(ErsatzKompass)+32391 10ca 2617 cp r18,r222392 10cc 3707 cpc r19,r232393 10ce 4807 cpc r20,r242394 10d0 5907 cpc r21,r252395 10d2 04F0 brlt .L1132396 10d4 261B sub r18,r222397 10d6 370B sbc r19,r232398 10d8 480B sbc r20,r242399 10da 590B sbc r21,r252400 10dc 2093 0000 sts ErsatzKompass,r182401 10e0 3093 0000 sts (ErsatzKompass)+1,r192402 10e4 4093 0000 sts (ErsatzKompass)+2,r202403 10e8 5093 0000 sts (ErsatzKompass)+3,r212404 .L113:2405 10ec 2091 0000 lds r18,ErsatzKompass2406 10f0 3091 0000 lds r19,(ErsatzKompass)+12407 10f4 4091 0000 lds r20,(ErsatzKompass)+22408 10f8 5091 0000 lds r21,(ErsatzKompass)+32409 10fc 57FF sbrs r21,72410 10fe 00C0 rjmp .L1142411 1100 260F add r18,r222412 1102 371F adc r19,r232413 1104 481F adc r20,r242414 1106 591F adc r21,r252415 1108 2093 0000 sts ErsatzKompass,r182416 110c 3093 0000 sts (ErsatzKompass)+1,r192417 1110 4093 0000 sts (ErsatzKompass)+2,r202418 1114 5093 0000 sts (ErsatzKompass)+3,r212419 .L114:2420 1118 6091 0000 lds r22,MesswertRoll2421 111c 7091 0000 lds r23,(MesswertRoll)+12422 1120 6E0D add r22,r142423 1122 7F1D adc r23,r152424 1124 9B01 movw r18,r222425 1126 4427 clr r202426 1128 37FD sbrc r19,72427 112a 4095 com r202428 112c 542F mov r21,r202429 112e 8091 0000 lds r24,Mess_IntegralRoll22430 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+12431 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+22432 113a B091 0000 lds r27,(Mess_IntegralRoll2)+32433 113e 820F add r24,r182434 1140 931F adc r25,r192435 1142 A41F adc r26,r202436 1144 B51F adc r27,r212437 1146 8093 0000 sts Mess_IntegralRoll2,r242438 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r252439 114e A093 0000 sts (Mess_IntegralRoll2)+2,r262440 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r272441 1156 8091 0000 lds r24,LageKorrekturRoll2442 115a 9091 0000 lds r25,(LageKorrekturRoll)+12443 115e 681B sub r22,r242444 1160 790B sbc r23,r252445 1162 CB01 movw r24,r222446 1164 AA27 clr r262447 1166 97FD sbrc r25,72448 1168 A095 com r262449 116a BA2F mov r27,r262450 116c 2985 ldd r18,Y+92451 116e 3A85 ldd r19,Y+102452 1170 4B85 ldd r20,Y+112453 1172 5C85 ldd r21,Y+122454 1174 820F add r24,r182455 1176 931F adc r25,r192456 1178 A41F adc r26,r202457 117a B51F adc r27,r212458 117c 8093 0000 sts Mess_IntegralRoll,r242459 1180 9093 0000 sts (Mess_IntegralRoll)+1,r252460 1184 A093 0000 sts (Mess_IntegralRoll)+2,r262461 1188 B093 0000 sts (Mess_IntegralRoll)+3,r272462 118c C090 0000 lds r12,Umschlag180Roll2463 1190 D090 0000 lds r13,(Umschlag180Roll)+12464 1194 E090 0000 lds r14,(Umschlag180Roll)+22465 1198 F090 0000 lds r15,(Umschlag180Roll)+32466 119c C816 cp r12,r242467 119e D906 cpc r13,r252468 11a0 EA06 cpc r14,r262469 11a2 FB06 cpc r15,r272470 11a4 04F4 brge .L1152471 11a6 88EA ldi r24,lo8(25000)2472 11a8 91E6 ldi r25,hi8(25000)2473 11aa A0E0 ldi r26,hlo8(25000)2474 11ac B0E0 ldi r27,hhi8(25000)2475 11ae 8C19 sub r24,r122476 11b0 9D09 sbc r25,r132477 11b2 AE09 sbc r26,r142478 11b4 BF09 sbc r27,r152479 11b6 8093 0000 sts Mess_IntegralRoll,r242480 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r252481 11be A093 0000 sts (Mess_IntegralRoll)+2,r262482 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r272483 11c6 8093 0000 sts Mess_IntegralRoll2,r242484 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r252485 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r262486 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r272487 .L115:2488 11d6 2227 clr r182489 11d8 3327 clr r192490 11da A901 movw r20,r182491 11dc 2C19 sub r18,r122492 11de 3D09 sbc r19,r132493 11e0 4E09 sbc r20,r142494 11e2 5F09 sbc r21,r152495 11e4 8091 0000 lds r24,Mess_IntegralRoll2496 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+12497 11ec A091 0000 lds r26,(Mess_IntegralRoll)+22498 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+32499 11f4 8217 cp r24,r182500 11f6 9307 cpc r25,r192501 11f8 A407 cpc r26,r202502 11fa B507 cpc r27,r212503 11fc 04F4 brge .L1162504 11fe D701 movw r26,r142505 1200 C601 movw r24,r122506 1202 885A subi r24,lo8(-(-25000))2507 1204 9146 sbci r25,hi8(-(-25000))2508 1206 A040 sbci r26,hlo8(-(-25000))2509 1208 B040 sbci r27,hhi8(-(-25000))2510 120a 8093 0000 sts Mess_IntegralRoll,r242511 120e 9093 0000 sts (Mess_IntegralRoll)+1,r252512 1212 A093 0000 sts (Mess_IntegralRoll)+2,r262513 1216 B093 0000 sts (Mess_IntegralRoll)+3,r272514 121a 8093 0000 sts Mess_IntegralRoll2,r242515 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r252516 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r262517 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r272518 .L116:2519 122a 6091 0000 lds r22,MesswertNick2520 122e 7091 0000 lds r23,(MesswertNick)+12521 1232 600F add r22,r162522 1234 711F adc r23,r172523 1236 9B01 movw r18,r222524 1238 4427 clr r202525 123a 37FD sbrc r19,72526 123c 4095 com r202527 123e 542F mov r21,r202528 1240 8091 0000 lds r24,Mess_IntegralNick22529 1244 9091 0000 lds r25,(Mess_IntegralNick2)+12530 1248 A091 0000 lds r26,(Mess_IntegralNick2)+22531 124c B091 0000 lds r27,(Mess_IntegralNick2)+32532 1250 820F add r24,r182533 1252 931F adc r25,r192534 1254 A41F adc r26,r202535 1256 B51F adc r27,r212536 1258 8093 0000 sts Mess_IntegralNick2,r242537 125c 9093 0000 sts (Mess_IntegralNick2)+1,r252538 1260 A093 0000 sts (Mess_IntegralNick2)+2,r262539 1264 B093 0000 sts (Mess_IntegralNick2)+3,r272540 1268 8091 0000 lds r24,LageKorrekturNick2541 126c 9091 0000 lds r25,(LageKorrekturNick)+12542 1270 681B sub r22,r242543 1272 790B sbc r23,r252544 1274 CB01 movw r24,r222545 1276 AA27 clr r262546 1278 97FD sbrc r25,72547 127a A095 com r262548 127c BA2F mov r27,r262549 127e 2D85 ldd r18,Y+132550 1280 3E85 ldd r19,Y+142551 1282 4F85 ldd r20,Y+152552 1284 5889 ldd r21,Y+162553 1286 820F add r24,r182554 1288 931F adc r25,r192555 128a A41F adc r26,r202556 128c B51F adc r27,r212557 128e 8093 0000 sts Mess_IntegralNick,r242558 1292 9093 0000 sts (Mess_IntegralNick)+1,r252559 1296 A093 0000 sts (Mess_IntegralNick)+2,r262560 129a B093 0000 sts (Mess_IntegralNick)+3,r272561 129e E090 0000 lds r14,Umschlag180Nick2562 12a2 F090 0000 lds r15,(Umschlag180Nick)+12563 12a6 0091 0000 lds r16,(Umschlag180Nick)+22564 12aa 1091 0000 lds r17,(Umschlag180Nick)+32565 12ae E816 cp r14,r242566 12b0 F906 cpc r15,r252567 12b2 0A07 cpc r16,r262568 12b4 1B07 cpc r17,r272569 12b6 04F4 brge .L1172570 12b8 88EA ldi r24,lo8(25000)2571 12ba 91E6 ldi r25,hi8(25000)2572 12bc A0E0 ldi r26,hlo8(25000)2573 12be B0E0 ldi r27,hhi8(25000)2574 12c0 8E19 sub r24,r142575 12c2 9F09 sbc r25,r152576 12c4 A00B sbc r26,r162577 12c6 B10B sbc r27,r172578 12c8 8093 0000 sts Mess_IntegralNick,r242579 12cc 9093 0000 sts (Mess_IntegralNick)+1,r252580 12d0 A093 0000 sts (Mess_IntegralNick)+2,r262581 12d4 B093 0000 sts (Mess_IntegralNick)+3,r272582 12d8 8093 0000 sts Mess_IntegralNick2,r242583 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r252584 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r262585 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r272586 .L117:2587 12e8 2227 clr r182588 12ea 3327 clr r192589 12ec A901 movw r20,r182590 12ee 2E19 sub r18,r142591 12f0 3F09 sbc r19,r152592 12f2 400B sbc r20,r162593 12f4 510B sbc r21,r172594 12f6 8091 0000 lds r24,Mess_IntegralNick2595 12fa 9091 0000 lds r25,(Mess_IntegralNick)+12596 12fe A091 0000 lds r26,(Mess_IntegralNick)+22597 1302 B091 0000 lds r27,(Mess_IntegralNick)+32598 1306 8217 cp r24,r182599 1308 9307 cpc r25,r192600 130a A407 cpc r26,r202601 130c B507 cpc r27,r212602 130e 04F4 brge .L1182603 1310 D801 movw r26,r162604 1312 C701 movw r24,r142605 1314 885A subi r24,lo8(-(-25000))2606 1316 9146 sbci r25,hi8(-(-25000))2607 1318 A040 sbci r26,hlo8(-(-25000))2608 131a B040 sbci r27,hhi8(-(-25000))2609 131c 8093 0000 sts Mess_IntegralNick,r242610 1320 9093 0000 sts (Mess_IntegralNick)+1,r252611 1324 A093 0000 sts (Mess_IntegralNick)+2,r262612 1328 B093 0000 sts (Mess_IntegralNick)+3,r272613 132c 8093 0000 sts Mess_IntegralNick2,r242614 1330 9093 0000 sts (Mess_IntegralNick2)+1,r252615 1334 A093 0000 sts (Mess_IntegralNick2)+2,r262616 1338 B093 0000 sts (Mess_IntegralNick2)+3,r272617 .L118:2618 133c 8091 0000 lds r24,Mess_Integral_Gier2619 1340 9091 0000 lds r25,(Mess_Integral_Gier)+12620 1344 A091 0000 lds r26,(Mess_Integral_Gier)+22621 1348 B091 0000 lds r27,(Mess_Integral_Gier)+32622 134c 8093 0000 sts Integral_Gier,r242623 1350 9093 0000 sts (Integral_Gier)+1,r252624 1354 A093 0000 sts (Integral_Gier)+2,r262625 1358 B093 0000 sts (Integral_Gier)+3,r272626 135c 8091 0000 lds r24,Mess_IntegralNick2627 1360 9091 0000 lds r25,(Mess_IntegralNick)+12628 1364 A091 0000 lds r26,(Mess_IntegralNick)+22629 1368 B091 0000 lds r27,(Mess_IntegralNick)+32630 136c 8093 0000 sts IntegralNick,r242631 1370 9093 0000 sts (IntegralNick)+1,r252632 1374 A093 0000 sts (IntegralNick)+2,r262633 1378 B093 0000 sts (IntegralNick)+3,r272634 137c 8091 0000 lds r24,Mess_IntegralRoll2635 1380 9091 0000 lds r25,(Mess_IntegralRoll)+12636 1384 A091 0000 lds r26,(Mess_IntegralRoll)+22637 1388 B091 0000 lds r27,(Mess_IntegralRoll)+32638 138c 8093 0000 sts IntegralRoll,r242639 1390 9093 0000 sts (IntegralRoll)+1,r252640 1394 A093 0000 sts (IntegralRoll)+2,r262641 1398 B093 0000 sts (IntegralRoll)+3,r272642 139c 8091 0000 lds r24,Mess_IntegralNick22643 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+12644 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+22645 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+32646 13ac 8093 0000 sts IntegralNick2,r242647 13b0 9093 0000 sts (IntegralNick2)+1,r252648 13b4 A093 0000 sts (IntegralNick2)+2,r262649 13b8 B093 0000 sts (IntegralNick2)+3,r272650 13bc 8091 0000 lds r24,Mess_IntegralRoll22651 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+12652 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+22653 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+32654 13cc 8093 0000 sts IntegralRoll2,r242655 13d0 9093 0000 sts (IntegralRoll2)+1,r252656 13d4 A093 0000 sts (IntegralRoll2)+2,r262657 13d8 B093 0000 sts (IntegralRoll2)+3,r272658 13dc 8091 0000 lds r24,HiResNick2659 13e0 9091 0000 lds r25,(HiResNick)+12660 13e4 97FD sbrc r25,72661 13e6 0796 adiw r24,72662 .L119:2663 13e8 03E0 ldi r16,32664 13ea 9595 1: asr r252665 13ec 8795 ror r242666 13ee 0A95 dec r162667 13f0 01F4 brne 1b2668 13f2 9093 0000 sts (MesswertNick)+1,r252669 13f6 8093 0000 sts MesswertNick,r242670 13fa 8091 0000 lds r24,HiResRoll2671 13fe 9091 0000 lds r25,(HiResRoll)+12672 1402 97FD sbrc r25,72673 1404 0796 adiw r24,72674 .L120:2675 1406 13E0 ldi r17,32676 1408 9595 1: asr r252677 140a 8795 ror r242678 140c 1A95 dec r172679 140e 01F4 brne 1b2680 1410 9093 0000 sts (MesswertRoll)+1,r252681 1414 8093 0000 sts MesswertRoll,r242682 1418 8091 0000 lds r24,AdWertNick2683 141c 9091 0000 lds r25,(AdWertNick)+12684 1420 0F97 sbiw r24,152685 1422 04F4 brge .L1212686 1424 88E1 ldi r24,lo8(-1000)2687 1426 9CEF ldi r25,hi8(-1000)2688 1428 9093 0000 sts (MesswertNick)+1,r252689 142c 8093 0000 sts MesswertNick,r242690 .L121:2691 1430 8091 0000 lds r24,AdWertNick2692 1434 9091 0000 lds r25,(AdWertNick)+12693 1438 0797 sbiw r24,72694 143a 04F4 brge .L1222695 143c 80E3 ldi r24,lo8(-2000)2696 143e 98EF ldi r25,hi8(-2000)2697 1440 9093 0000 sts (MesswertNick)+1,r252698 1444 8093 0000 sts MesswertNick,r242699 .L122:2700 1448 2091 0000 lds r18,PlatinenVersion2701 144c 2A30 cpi r18,lo8(10)2702 144e 01F4 brne .L1232703 1450 8091 0000 lds r24,AdWertNick2704 1454 9091 0000 lds r25,(AdWertNick)+12705 1458 835F subi r24,lo8(1011)2706 145a 9340 sbci r25,hi8(1011)2707 145c 04F0 brlt .L1242708 145e 88EE ldi r24,lo8(1000)2709 1460 93E0 ldi r25,hi8(1000)2710 1462 9093 0000 sts (MesswertNick)+1,r252711 1466 8093 0000 sts MesswertNick,r242712 .L124:2713 146a 8091 0000 lds r24,AdWertNick2714 146e 9091 0000 lds r25,(AdWertNick)+12715 1472 8A5F subi r24,lo8(1018)2716 1474 9340 sbci r25,hi8(1018)2717 1476 04F0 brlt .L1262718 1478 00C0 rjmp .L1692719 .L123:2720 147a 8091 0000 lds r24,AdWertNick2721 147e 9091 0000 lds r25,(AdWertNick)+12722 1482 815D subi r24,lo8(2001)2723 1484 9740 sbci r25,hi8(2001)2724 1486 04F0 brlt .L1272725 1488 88EE ldi r24,lo8(1000)2726 148a 93E0 ldi r25,hi8(1000)2727 148c 9093 0000 sts (MesswertNick)+1,r252728 1490 8093 0000 sts MesswertNick,r242729 .L127:2730 1494 8091 0000 lds r24,AdWertNick2731 1498 9091 0000 lds r25,(AdWertNick)+12732 149c 805E subi r24,lo8(2016)2733 149e 9740 sbci r25,hi8(2016)2734 14a0 04F0 brlt .L1262735 .L169:2736 14a2 80ED ldi r24,lo8(2000)2737 14a4 97E0 ldi r25,hi8(2000)2738 14a6 9093 0000 sts (MesswertNick)+1,r252739 14aa 8093 0000 sts MesswertNick,r242740 .L126:2741 14ae 8091 0000 lds r24,AdWertRoll2742 14b2 9091 0000 lds r25,(AdWertRoll)+12743 14b6 0F97 sbiw r24,152744 14b8 04F4 brge .L1292745 14ba 88E1 ldi r24,lo8(-1000)2746 14bc 9CEF ldi r25,hi8(-1000)2747 14be 9093 0000 sts (MesswertRoll)+1,r252748 14c2 8093 0000 sts MesswertRoll,r242749 .L129:2750 14c6 8091 0000 lds r24,AdWertRoll2751 14ca 9091 0000 lds r25,(AdWertRoll)+12752 14ce 0797 sbiw r24,72753 14d0 04F4 brge .L1302754 14d2 80E3 ldi r24,lo8(-2000)2755 14d4 98EF ldi r25,hi8(-2000)2756 14d6 9093 0000 sts (MesswertRoll)+1,r252757 14da 8093 0000 sts MesswertRoll,r242758 .L130:2759 14de 2A30 cpi r18,lo8(10)2760 14e0 01F4 brne .L1312761 14e2 8091 0000 lds r24,AdWertRoll2762 14e6 9091 0000 lds r25,(AdWertRoll)+12763 14ea 835F subi r24,lo8(1011)2764 14ec 9340 sbci r25,hi8(1011)2765 14ee 04F0 brlt .L1322766 14f0 88EE ldi r24,lo8(1000)2767 14f2 93E0 ldi r25,hi8(1000)2768 14f4 9093 0000 sts (MesswertRoll)+1,r252769 14f8 8093 0000 sts MesswertRoll,r242770 .L132:2771 14fc 8091 0000 lds r24,AdWertRoll2772 1500 9091 0000 lds r25,(AdWertRoll)+12773 1504 8A5F subi r24,lo8(1018)2774 1506 9340 sbci r25,hi8(1018)2775 1508 04F0 brlt .L1342776 150a 00C0 rjmp .L1702777 .L131:2778 150c 8091 0000 lds r24,AdWertRoll2779 1510 9091 0000 lds r25,(AdWertRoll)+12780 1514 815D subi r24,lo8(2001)2781 1516 9740 sbci r25,hi8(2001)2782 1518 04F0 brlt .L1352783 151a 88EE ldi r24,lo8(1000)2784 151c 93E0 ldi r25,hi8(1000)2785 151e 9093 0000 sts (MesswertRoll)+1,r252786 1522 8093 0000 sts MesswertRoll,r242787 .L135:2788 1526 8091 0000 lds r24,AdWertRoll2789 152a 9091 0000 lds r25,(AdWertRoll)+12790 152e 805E subi r24,lo8(2016)2791 1530 9740 sbci r25,hi8(2016)2792 1532 04F0 brlt .L1342793 .L170:2794 1534 80ED ldi r24,lo8(2000)2795 1536 97E0 ldi r25,hi8(2000)2796 1538 9093 0000 sts (MesswertRoll)+1,r252797 153c 8093 0000 sts MesswertRoll,r242798 .L134:2799 1540 6091 0000 lds r22,Parameter_Gyro_D2800 1544 6623 tst r222801 1546 01F4 brne .+22802 1548 00C0 rjmp .L1372803 154a 4091 0000 lds r20,HiResNick2804 154e 5091 0000 lds r21,(HiResNick)+12805 1552 8091 0000 lds r24,oldNick.312806 1556 9091 0000 lds r25,(oldNick.31)+12807 155a 481B sub r20,r242808 155c 590B sbc r21,r252809 155e 5093 0000 sts (d2Nick.34)+1,r212810 1562 4093 0000 sts d2Nick.34,r202811 1566 2091 0000 lds r18,HiResNick2812 156a 3091 0000 lds r19,(HiResNick)+12813 156e 280F add r18,r242814 1570 391F adc r19,r252815 1572 37FF sbrs r19,72816 1574 00C0 rjmp .L1382817 1576 2F5F subi r18,lo8(-(1))2818 1578 3F4F sbci r19,hi8(-(1))2819 .L138:2820 157a 3595 asr r192821 157c 2795 ror r182822 157e 3093 0000 sts (oldNick.31)+1,r192823 1582 2093 0000 sts oldNick.31,r182824 1586 4138 cpi r20,1292825 1588 5105 cpc r21,__zero_reg__2826 158a 04F0 brlt .L1392827 158c 80E8 ldi r24,lo8(128)2828 158e 90E0 ldi r25,hi8(128)2829 1590 00C0 rjmp .L1712830 .L139:2831 1592 4058 subi r20,lo8(-128)2832 1594 5F4F sbci r21,hi8(-128)2833 1596 04F4 brge .L1402834 1598 80E8 ldi r24,lo8(-128)2835 159a 9FEF ldi r25,hi8(-128)2836 .L171:2837 159c 9093 0000 sts (d2Nick.34)+1,r252838 15a0 8093 0000 sts d2Nick.34,r242839 .L140:2840 15a4 4091 0000 lds r20,HiResRoll2841 15a8 5091 0000 lds r21,(HiResRoll)+12842 15ac 8091 0000 lds r24,oldRoll.322843 15b0 9091 0000 lds r25,(oldRoll.32)+12844 15b4 481B sub r20,r242845 15b6 590B sbc r21,r252846 15b8 5093 0000 sts (d2Roll.33)+1,r212847 15bc 4093 0000 sts d2Roll.33,r202848 15c0 2091 0000 lds r18,HiResRoll2849 15c4 3091 0000 lds r19,(HiResRoll)+12850 15c8 280F add r18,r242851 15ca 391F adc r19,r252852 15cc 37FF sbrs r19,72853 15ce 00C0 rjmp .L1422854 15d0 2F5F subi r18,lo8(-(1))2855 15d2 3F4F sbci r19,hi8(-(1))2856 .L142:2857 15d4 3595 asr r192858 15d6 2795 ror r182859 15d8 3093 0000 sts (oldRoll.32)+1,r192860 15dc 2093 0000 sts oldRoll.32,r182861 15e0 4138 cpi r20,1292862 15e2 5105 cpc r21,__zero_reg__2863 15e4 04F0 brlt .L1432864 15e6 80E8 ldi r24,lo8(128)2865 15e8 90E0 ldi r25,hi8(128)2866 15ea 00C0 rjmp .L1722867 .L143:2868 15ec 4058 subi r20,lo8(-128)2869 15ee 5F4F sbci r21,hi8(-128)2870 15f0 04F4 brge .L1442871 15f2 80E8 ldi r24,lo8(-128)2872 15f4 9FEF ldi r25,hi8(-128)2873 .L172:2874 15f6 9093 0000 sts (d2Roll.33)+1,r252875 15fa 8093 0000 sts d2Roll.33,r242876 .L144:2877 15fe 462F mov r20,r222878 1600 5527 clr r212879 1602 8091 0000 lds r24,d2Nick.342880 1606 9091 0000 lds r25,(d2Nick.34)+12881 160a 849F mul r24,r202882 160c B001 movw r22,r02883 160e 859F mul r24,r212884 1610 700D add r23,r02885 1612 949F mul r25,r202886 1614 700D add r23,r02887 1616 1124 clr r12888 1618 9B01 movw r18,r222889 161a 77FF sbrs r23,72890 161c 00C0 rjmp .L1462891 161e 215F subi r18,lo8(-(15))2892 1620 3F4F sbci r19,hi8(-(15))2893 .L146:2894 1622 F4E0 ldi r31,42895 1624 3595 1: asr r192896 1626 2795 ror r182897 1628 FA95 dec r312898 162a 01F4 brne 1b2899 162c 8091 0000 lds r24,MesswertNick2900 1630 9091 0000 lds r25,(MesswertNick)+12901 1634 820F add r24,r182902 1636 931F adc r25,r192903 1638 9093 0000 sts (MesswertNick)+1,r252904 163c 8093 0000 sts MesswertNick,r242905 1640 8091 0000 lds r24,d2Roll.332906 1644 9091 0000 lds r25,(d2Roll.33)+12907 1648 849F mul r24,r202908 164a D001 movw r26,r02909 164c 859F mul r24,r212910 164e B00D add r27,r02911 1650 949F mul r25,r202912 1652 B00D add r27,r02913 1654 1124 clr r12914 1656 AD01 movw r20,r262915 1658 9D01 movw r18,r262916 165a B7FF sbrs r27,72917 165c 00C0 rjmp .L1472918 165e 215F subi r18,lo8(-(15))2919 1660 3F4F sbci r19,hi8(-(15))2920 .L147:2921 1662 E4E0 ldi r30,42922 1664 3595 1: asr r192923 1666 2795 ror r182924 1668 EA95 dec r302925 166a 01F4 brne 1b2926 166c 8091 0000 lds r24,MesswertRoll2927 1670 9091 0000 lds r25,(MesswertRoll)+12928 1674 820F add r24,r182929 1676 931F adc r25,r192930 1678 9093 0000 sts (MesswertRoll)+1,r252931 167c 8093 0000 sts MesswertRoll,r242932 1680 8091 0000 lds r24,HiResNick2933 1684 9091 0000 lds r25,(HiResNick)+12934 1688 860F add r24,r222935 168a 971F adc r25,r232936 168c 9093 0000 sts (HiResNick)+1,r252937 1690 8093 0000 sts HiResNick,r242938 1694 8091 0000 lds r24,HiResRoll2939 1698 9091 0000 lds r25,(HiResRoll)+12940 169c 840F add r24,r202941 169e 951F adc r25,r212942 16a0 9093 0000 sts (HiResRoll)+1,r252943 16a4 8093 0000 sts HiResRoll,r242944 .L137:2945 16a8 0091 0000 lds r16,RohMesswertRoll2946 16ac 1091 0000 lds r17,(RohMesswertRoll)+12947 16b0 8091 0000 lds r24,KopplungsteilNickRoll2948 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+12949 16b8 1016 cp __zero_reg__,r162950 16ba 1106 cpc __zero_reg__,r172951 16bc 04F4 brge .L1482952 16be 9C01 movw r18,r242953 16c0 97FF sbrs r25,72954 16c2 00C0 rjmp .L1492955 16c4 2227 clr r182956 16c6 3327 clr r192957 16c8 281B sub r18,r242958 16ca 390B sbc r19,r252959 .L149:2960 16cc C901 movw r24,r182961 16ce AA27 clr r262962 16d0 97FD sbrc r25,72963 16d2 A095 com r262964 16d4 BA2F mov r27,r262965 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection2966 16da 3327 clr r192967 16dc 4427 clr r202968 16de 5527 clr r212969 16e0 BC01 movw r22,r242970 16e2 CD01 movw r24,r262971 16e4 0E94 0000 call __mulsi32972 16e8 9B01 movw r18,r222973 16ea AC01 movw r20,r242974 16ec 97FF sbrs r25,72975 16ee 00C0 rjmp .L1502976 16f0 215C subi r18,lo8(-(63))2977 16f2 3F4F sbci r19,hi8(-(63))2978 16f4 4F4F sbci r20,hlo8(-(63))2979 16f6 5F4F sbci r21,hhi8(-(63))2980 .L150:2981 16f8 76E0 ldi r23,62982 16fa 5595 1: asr r212983 16fc 4795 ror r202984 16fe 3795 ror r192985 1700 2795 ror r182986 1702 7A95 dec r232987 1704 01F4 brne 1b2988 1706 8091 0000 lds r24,TrimRoll2989 170a 9091 0000 lds r25,(TrimRoll)+12990 170e 820F add r24,r182991 1710 931F adc r25,r192992 1712 00C0 rjmp .L1732993 .L148:2994 1714 97FF sbrs r25,72995 1716 00C0 rjmp .L1522996 1718 9095 com r252997 171a 8195 neg r242998 171c 9F4F sbci r25,lo8(-1)2999 .L152:3000 171e AA27 clr r263001 1720 97FD sbrc r25,73002 1722 A095 com r263003 1724 BA2F mov r27,r263004 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection3005 172a 3327 clr r193006 172c 4427 clr r203007 172e 5527 clr r213008 1730 BC01 movw r22,r243009 1732 CD01 movw r24,r263010 1734 0E94 0000 call __mulsi33011 1738 9B01 movw r18,r223012 173a AC01 movw r20,r243013 173c 97FF sbrs r25,73014 173e 00C0 rjmp .L1533015 1740 215C subi r18,lo8(-(63))3016 1742 3F4F sbci r19,hi8(-(63))3017 1744 4F4F sbci r20,hlo8(-(63))3018 1746 5F4F sbci r21,hhi8(-(63))3019 .L153:3020 1748 66E0 ldi r22,63021 174a 5595 1: asr r213022 174c 4795 ror r203023 174e 3795 ror r193024 1750 2795 ror r183025 1752 6A95 dec r223026 1754 01F4 brne 1b3027 1756 8091 0000 lds r24,TrimRoll3028 175a 9091 0000 lds r25,(TrimRoll)+13029 175e 821B sub r24,r183030 1760 930B sbc r25,r193031 .L173:3032 1762 9093 0000 sts (TrimRoll)+1,r253033 1766 8093 0000 sts TrimRoll,r243034 176a E090 0000 lds r14,RohMesswertNick3035 176e F090 0000 lds r15,(RohMesswertNick)+13036 1772 8091 0000 lds r24,KopplungsteilRollNick3037 1776 9091 0000 lds r25,(KopplungsteilRollNick)+13038 177a 1E14 cp __zero_reg__,r143039 177c 1F04 cpc __zero_reg__,r153040 177e 04F4 brge .L1543041 1780 9C01 movw r18,r243042 1782 97FF sbrs r25,73043 1784 00C0 rjmp .L1553044 1786 2227 clr r183045 1788 3327 clr r193046 178a 281B sub r18,r243047 178c 390B sbc r19,r253048 .L155:3049 178e C901 movw r24,r183050 1790 AA27 clr r263051 1792 97FD sbrc r25,73052 1794 A095 com r263053 1796 BA2F mov r27,r263054 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection3055 179c 3327 clr r193056 179e 4427 clr r203057 17a0 5527 clr r213058 17a2 BC01 movw r22,r243059 17a4 CD01 movw r24,r263060 17a6 0E94 0000 call __mulsi33061 17aa 9B01 movw r18,r223062 17ac AC01 movw r20,r243063 17ae 97FF sbrs r25,73064 17b0 00C0 rjmp .L1563065 17b2 215C subi r18,lo8(-(63))3066 17b4 3F4F sbci r19,hi8(-(63))3067 17b6 4F4F sbci r20,hlo8(-(63))3068 17b8 5F4F sbci r21,hhi8(-(63))3069 .L156:3070 17ba 96E0 ldi r25,63071 17bc 5595 1: asr r213072 17be 4795 ror r203073 17c0 3795 ror r193074 17c2 2795 ror r183075 17c4 9A95 dec r253076 17c6 01F4 brne 1b3077 17c8 8091 0000 lds r24,TrimNick3078 17cc 9091 0000 lds r25,(TrimNick)+13079 17d0 820F add r24,r183080 17d2 931F adc r25,r193081 17d4 00C0 rjmp .L1743082 .L154:3083 17d6 97FF sbrs r25,73084 17d8 00C0 rjmp .L1583085 17da 9095 com r253086 17dc 8195 neg r243087 17de 9F4F sbci r25,lo8(-1)3088 .L158:3089 17e0 AA27 clr r263090 17e2 97FD sbrc r25,73091 17e4 A095 com r263092 17e6 BA2F mov r27,r263093 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection3094 17ec 3327 clr r193095 17ee 4427 clr r203096 17f0 5527 clr r213097 17f2 BC01 movw r22,r243098 17f4 CD01 movw r24,r263099 17f6 0E94 0000 call __mulsi33100 17fa 9B01 movw r18,r223101 17fc AC01 movw r20,r243102 17fe 97FF sbrs r25,73103 1800 00C0 rjmp .L1593104 1802 215C subi r18,lo8(-(63))3105 1804 3F4F sbci r19,hi8(-(63))3106 1806 4F4F sbci r20,hlo8(-(63))3107 1808 5F4F sbci r21,hhi8(-(63))3108 .L159:3109 180a 86E0 ldi r24,63110 180c 5595 1: asr r213111 180e 4795 ror r203112 1810 3795 ror r193113 1812 2795 ror r183114 1814 8A95 dec r243115 1816 01F4 brne 1b3116 1818 8091 0000 lds r24,TrimNick3117 181c 9091 0000 lds r25,(TrimNick)+13118 1820 821B sub r24,r183119 1822 930B sbc r25,r193120 .L174:3121 1824 9093 0000 sts (TrimNick)+1,r253122 1828 8093 0000 sts TrimNick,r243123 182c 8091 0000 lds r24,Parameter_GlobalConfig3124 1830 87FF sbrs r24,73125 1832 00C0 rjmp .L823126 1834 B989 ldd r27,Y+173127 1836 BB23 tst r273128 1838 01F0 breq .+23129 183a 00C0 rjmp .L823130 183c 8091 0000 lds r24,Looping_Roll3131 1840 8823 tst r243132 1842 01F4 brne .L823133 1844 E1E0 ldi r30,lo8(257)3134 1846 EE16 cp r14,r303135 1848 E1E0 ldi r30,hi8(257)3136 184a FE06 cpc r15,r303137 184c 04F0 brlt .L1613138 184e 8091 0000 lds r24,MesswertNick3139 1852 9091 0000 lds r25,(MesswertNick)+13140 1856 8E0D add r24,r143141 1858 9F1D adc r25,r153142 185a 8050 subi r24,lo8(-(-256))3143 185c 9140 sbci r25,hi8(-(-256))3144 185e 00C0 rjmp .L1753145 .L161:3146 1860 F0E0 ldi r31,lo8(-256)3147 1862 EF16 cp r14,r313148 1864 FFEF ldi r31,hi8(-256)3149 1866 FF06 cpc r15,r313150 1868 04F4 brge .L1623151 186a 8091 0000 lds r24,MesswertNick3152 186e 9091 0000 lds r25,(MesswertNick)+13153 1872 8E0D add r24,r143154 1874 9F1D adc r25,r153155 1876 8050 subi r24,lo8(-(256))3156 1878 9F4F sbci r25,hi8(-(256))3157 .L175:3158 187a 9093 0000 sts (MesswertNick)+1,r253159 187e 8093 0000 sts MesswertNick,r243160 .L162:3161 1882 21E0 ldi r18,hi8(257)3162 1884 0130 cpi r16,lo8(257)3163 1886 1207 cpc r17,r183164 1888 04F0 brlt .L1643165 188a 8091 0000 lds r24,MesswertRoll3166 188e 9091 0000 lds r25,(MesswertRoll)+13167 1892 800F add r24,r163168 1894 911F adc r25,r173169 1896 8050 subi r24,lo8(-(-256))3170 1898 9140 sbci r25,hi8(-(-256))3171 189a 00C0 rjmp .L1763172 .L164:3173 189c 3FEF ldi r19,hi8(-256)3174 189e 0030 cpi r16,lo8(-256)3175 18a0 1307 cpc r17,r193176 18a2 04F4 brge .L823177 18a4 8091 0000 lds r24,MesswertRoll3178 18a8 9091 0000 lds r25,(MesswertRoll)+13179 18ac 800F add r24,r163180 18ae 911F adc r25,r173181 18b0 8050 subi r24,lo8(-(256))3182 18b2 9F4F sbci r25,hi8(-(256))3183 .L176:3184 18b4 9093 0000 sts (MesswertRoll)+1,r253185 18b8 8093 0000 sts MesswertRoll,r243186 .L82:3187 /* epilogue: frame size=19 */3188 18bc E2E1 ldi r30,183189 18be CD5E subi r28,-193190 18c0 0C94 0000 jmp __epilogue_restores__+03191 /* epilogue end (size=4) */3192 /* function Mittelwert size 2000 (1990) */3194 .global SendMotorData3196 SendMotorData:3197 /* prologue: frame size=0 */3198 /* prologue end (size=0) */3199 18c4 8091 0000 lds r24,MotorenEin3200 18c8 8823 tst r243201 18ca 01F4 brne .L1783202 18cc 8091 0000 lds r24,FC_StatusFlags3203 18d0 8C7F andi r24,lo8(-4)3204 18d2 8093 0000 sts FC_StatusFlags,r243205 18d6 A0E0 ldi r26,lo8(MotorTest)3206 18d8 B0E0 ldi r27,hi8(MotorTest)3207 18da E0E0 ldi r30,lo8(Motor)3208 18dc F0E0 ldi r31,hi8(Motor)3209 18de 9BE0 ldi r25,lo8(11)3210 .L183:3211 18e0 8091 0000 lds r24,PC_MotortestActive3212 18e4 8823 tst r243213 18e6 01F4 brne .L1823214 18e8 8C93 st X,r243215 .L182:3216 18ea 8D91 ld r24,X+3217 18ec 8183 std Z+1,r243218 18ee 1282 std Z+2,__zero_reg__3219 18f0 9150 subi r25,lo8(-(-1))3220 18f2 3896 adiw r30,83221 18f4 97FF sbrs r25,73222 18f6 00C0 rjmp .L1833223 18f8 8091 0000 lds r24,PC_MotortestActive3224 18fc 8823 tst r243225 18fe 01F0 breq .L1853226 1900 8091 0000 lds r24,PC_MotortestActive3227 1904 8150 subi r24,lo8(-(-1))3228 1906 8093 0000 sts PC_MotortestActive,r243229 190a 00C0 rjmp .L1853230 .L178:3231 190c 8091 0000 lds r24,FC_StatusFlags3232 1910 8160 ori r24,lo8(1)3233 1912 8093 0000 sts FC_StatusFlags,r243234 .L185:3235 1916 8091 0000 lds r24,I2C_TransferActive3236 191a 8823 tst r243237 191c 01F0 breq .L1863238 191e 1092 0000 sts I2C_TransferActive,__zero_reg__3239 1922 0895 ret3240 .L186:3241 1924 8093 0000 sts motor_write,r243242 1928 8093 0000 sts twi_state,r243243 192c 8091 0000 lds r24,BLFlags3244 1930 8E7F andi r24,lo8(-2)3245 1932 8093 0000 sts BLFlags,r243246 1936 85EA ldi r24,lo8(-91)3247 1938 8093 BC00 sts 188,r243248 193c 0895 ret3249 /* epilogue: frame size=0 */3250 /* epilogue: noreturn */3251 /* epilogue end (size=0) */3252 /* function SendMotorData size 61 (61) */3254 .global ParameterZuordnung3256 ParameterZuordnung:3257 /* prologue: frame size=0 */3258 193e CF93 push r283259 1940 DF93 push r293260 /* prologue end (size=2) */3261 1942 A0E0 ldi r26,lo8(Poti)3262 1944 B0E0 ldi r27,hi8(Poti)3263 1946 C0E0 ldi r28,lo8(EE_Parameter+5)3264 1948 D0E0 ldi r29,hi8(EE_Parameter+5)3265 194a 57E0 ldi r21,lo8(7)3266 .L203:3267 194c 9991 ld r25,Y+3268 194e E92F mov r30,r253269 1950 FF27 clr r313270 1952 EE0F add r30,r303271 1954 FF1F adc r31,r313272 1956 E050 subi r30,lo8(-(PPM_in))3273 1958 F040 sbci r31,hi8(-(PPM_in))3274 195a 0190 ld __tmp_reg__,Z+3275 195c F081 ld r31,Z3276 195e E02D mov r30,__tmp_reg__3277 1960 E158 subi r30,lo8(-(127))3278 1962 FF4F sbci r31,hi8(-(127))3279 1964 EF3F cpi r30,2553280 1966 F105 cpc r31,__zero_reg__3281 1968 01F0 breq .L1943282 196a 04F0 brlt .L1943283 196c EFEF ldi r30,lo8(255)3284 196e F0E0 ldi r31,hi8(255)3285 1970 00C0 rjmp .L1953286 .L194:3287 1972 F7FF sbrs r31,73288 1974 00C0 rjmp .L1953289 1976 E0E0 ldi r30,lo8(0)3290 1978 F0E0 ldi r31,hi8(0)3291 .L195:3292 197a 9931 cpi r25,lo8(25)3293 197c 01F4 brne .L1973294 197e EC93 st X,r303295 1980 00C0 rjmp .L1933296 .L197:3297 1982 4C91 ld r20,X3298 1984 242F mov r18,r203299 1986 3327 clr r193300 1988 E217 cp r30,r183301 198a F307 cpc r31,r193302 198c 01F0 breq .L1933303 198e CF01 movw r24,r303304 1990 821B sub r24,r183305 1992 930B sbc r25,r193306 1994 97FD sbrc r25,73307 1996 0396 adiw r24,33308 .L200:3309 1998 9595 asr r253310 199a 8795 ror r243311 199c 9595 asr r253312 199e 8795 ror r243313 19a0 242F mov r18,r203314 19a2 280F add r18,r243315 19a4 2C93 st X,r183316 19a6 822F mov r24,r183317 19a8 9927 clr r253318 19aa E817 cp r30,r243319 19ac F907 cpc r31,r253320 19ae 04F4 brge .L2013321 19b0 2150 subi r18,lo8(-(-1))3322 19b2 00C0 rjmp .L3233323 .L201:3324 19b4 2F5F subi r18,lo8(-(1))3325 .L323:3326 19b6 2C93 st X,r183327 .L193:3328 19b8 5150 subi r21,lo8(-(-1))3329 19ba 1196 adiw r26,13330 19bc 57FF sbrs r21,73331 19be 00C0 rjmp .L2033332 19c0 8091 0000 lds r24,EE_Parameter+153333 19c4 883F cpi r24,lo8(-8)3334 19c6 00F0 brlo .L3243335 19c8 EFEF ldi r30,lo8(255)3336 19ca F0E0 ldi r31,hi8(255)3337 19cc E81B sub r30,r243338 19ce F109 sbc r31,__zero_reg__3339 19d0 E050 subi r30,lo8(-(Poti))3340 19d2 F040 sbci r31,hi8(-(Poti))3341 19d4 8081 ld r24,Z3342 .L324:3343 19d6 8093 0000 sts Parameter_Luftdruck_D,r243344 19da 8091 0000 lds r24,Parameter_Luftdruck_D3345 19de 8823 tst r243346 19e0 01F0 breq .L2073347 19e2 8436 cpi r24,lo8(100)3348 19e4 00F0 brlo .L2073349 19e6 84E6 ldi r24,lo8(100)3350 19e8 8093 0000 sts Parameter_Luftdruck_D,r243351 .L207:3352 19ec 8091 0000 lds r24,EE_Parameter+173353 19f0 883F cpi r24,lo8(-8)3354 19f2 00F0 brlo .L3253355 19f4 EFEF ldi r30,lo8(255)3356 19f6 F0E0 ldi r31,hi8(255)3357 19f8 E81B sub r30,r243358 19fa F109 sbc r31,__zero_reg__3359 19fc E050 subi r30,lo8(-(Poti))3360 19fe F040 sbci r31,hi8(-(Poti))3361 1a00 8081 ld r24,Z3362 .L325:3363 1a02 8093 0000 sts Parameter_Hoehe_P,r243364 1a06 8091 0000 lds r24,Parameter_Hoehe_P3365 1a0a 8823 tst r243366 1a0c 01F0 breq .L2123367 1a0e 8436 cpi r24,lo8(100)3368 1a10 00F0 brlo .L2123369 1a12 84E6 ldi r24,lo8(100)3370 1a14 8093 0000 sts Parameter_Hoehe_P,r243371 .L212:3372 1a18 8091 0000 lds r24,EE_Parameter+303373 1a1c 883F cpi r24,lo8(-8)3374 1a1e 00F0 brlo .L3263375 1a20 EFEF ldi r30,lo8(255)3376 1a22 F0E0 ldi r31,hi8(255)3377 1a24 E81B sub r30,r243378 1a26 F109 sbc r31,__zero_reg__3379 1a28 E050 subi r30,lo8(-(Poti))3380 1a2a F040 sbci r31,hi8(-(Poti))3381 1a2c 8081 ld r24,Z3382 .L326:3383 1a2e 8093 0000 sts Parameter_Gyro_P,r243384 1a32 8091 0000 lds r24,Parameter_Gyro_P3385 1a36 8B30 cpi r24,lo8(11)3386 1a38 00F4 brsh .L2163387 1a3a 8AE0 ldi r24,lo8(10)3388 1a3c 00C0 rjmp .L3273389 .L216:3390 1a3e 8F3F cpi r24,lo8(-1)3391 1a40 01F4 brne .L2173392 .L327:3393 1a42 8093 0000 sts Parameter_Gyro_P,r243394 .L217:3395 1a46 8091 0000 lds r24,EE_Parameter+753396 1a4a 883F cpi r24,lo8(-8)3397 1a4c 00F0 brlo .L3283398 1a4e EFEF ldi r30,lo8(255)3399 1a50 F0E0 ldi r31,hi8(255)3400 1a52 E81B sub r30,r243401 1a54 F109 sbc r31,__zero_reg__3402 1a56 E050 subi r30,lo8(-(Poti))3403 1a58 F040 sbci r31,hi8(-(Poti))3404 1a5a 8081 ld r24,Z3405 .L328:3406 1a5c 8093 0000 sts Parameter_J16Timing,r243407 1a60 8091 0000 lds r24,Parameter_J16Timing3408 1a64 8630 cpi r24,lo8(6)3409 1a66 00F4 brsh .L2213410 1a68 85E0 ldi r24,lo8(5)3411 1a6a 00C0 rjmp .L3293412 .L221:3413 1a6c 8F3F cpi r24,lo8(-1)3414 1a6e 01F4 brne .L2223415 .L329:3416 1a70 8093 0000 sts Parameter_J16Timing,r243417 .L222:3418 1a74 8091 0000 lds r24,EE_Parameter+773419 1a78 883F cpi r24,lo8(-8)3420 1a7a 00F0 brlo .L3303421 1a7c EFEF ldi r30,lo8(255)3422 1a7e F0E0 ldi r31,hi8(255)3423 1a80 E81B sub r30,r243424 1a82 F109 sbc r31,__zero_reg__3425 1a84 E050 subi r30,lo8(-(Poti))3426 1a86 F040 sbci r31,hi8(-(Poti))3427 1a88 8081 ld r24,Z3428 .L330:3429 1a8a 8093 0000 sts Parameter_J17Timing,r243430 1a8e 8091 0000 lds r24,Parameter_J17Timing3431 1a92 8630 cpi r24,lo8(6)3432 1a94 00F4 brsh .L2263433 1a96 85E0 ldi r24,lo8(5)3434 1a98 00C0 rjmp .L3313435 .L226:3436 1a9a 8F3F cpi r24,lo8(-1)3437 1a9c 01F4 brne .L2273438 .L331:3439 1a9e 8093 0000 sts Parameter_J17Timing,r243440 .L227:3441 1aa2 8091 0000 lds r24,EE_Parameter+563442 1aa6 873F cpi r24,lo8(-9)3443 1aa8 01F4 brne .L2293444 1aaa 4299 sbic 40-0x20,23445 1aac 00C0 rjmp .L3623446 1aae 00C0 rjmp .L2343447 .L229:3448 1ab0 863F cpi r24,lo8(-10)3449 1ab2 01F4 brne .L2333450 1ab4 439B sbis 40-0x20,33451 1ab6 00C0 rjmp .L2343452 .L362:3453 1ab8 8CE8 ldi r24,lo8(-116)3454 1aba 00C0 rjmp .L3323455 .L234:3456 1abc 86E4 ldi r24,lo8(70)3457 1abe 00C0 rjmp .L3323458 .L233:3459 1ac0 883F cpi r24,lo8(-8)3460 1ac2 00F0 brlo .L3323461 1ac4 EFEF ldi r30,lo8(255)3462 1ac6 F0E0 ldi r31,hi8(255)3463 1ac8 E81B sub r30,r243464 1aca F109 sbc r31,__zero_reg__3465 1acc E050 subi r30,lo8(-(Poti))3466 1ace F040 sbci r31,hi8(-(Poti))3467 1ad0 8081 ld r24,Z3468 .L332:3469 1ad2 8093 0000 sts Parameter_Servo3,r243470 1ad6 8091 0000 lds r24,EE_Parameter+573471 1ada 873F cpi r24,lo8(-9)3472 1adc 01F4 brne .L2393473 1ade 4299 sbic 40-0x20,23474 1ae0 00C0 rjmp .L3633475 1ae2 00C0 rjmp .L2443476 .L239:3477 1ae4 863F cpi r24,lo8(-10)3478 1ae6 01F4 brne .L2433479 1ae8 439B sbis 40-0x20,33480 1aea 00C0 rjmp .L2443481 .L363:3482 1aec 8CE8 ldi r24,lo8(-116)3483 1aee 00C0 rjmp .L3333484 .L244:3485 1af0 86E4 ldi r24,lo8(70)3486 1af2 00C0 rjmp .L3333487 .L243:3488 1af4 883F cpi r24,lo8(-8)3489 1af6 00F0 brlo .L3333490 1af8 EFEF ldi r30,lo8(255)3491 1afa F0E0 ldi r31,hi8(255)3492 1afc E81B sub r30,r243493 1afe F109 sbc r31,__zero_reg__3494 1b00 E050 subi r30,lo8(-(Poti))3495 1b02 F040 sbci r31,hi8(-(Poti))3496 1b04 8081 ld r24,Z3497 .L333:3498 1b06 8093 0000 sts Parameter_Servo4,r243499 1b0a 8091 0000 lds r24,EE_Parameter+583500 1b0e 883F cpi r24,lo8(-8)3501 1b10 00F0 brlo .L3343502 1b12 EFEF ldi r30,lo8(255)3503 1b14 F0E0 ldi r31,hi8(255)3504 1b16 E81B sub r30,r243505 1b18 F109 sbc r31,__zero_reg__3506 1b1a E050 subi r30,lo8(-(Poti))3507 1b1c F040 sbci r31,hi8(-(Poti))3508 1b1e 8081 ld r24,Z3509 .L334:3510 1b20 8093 0000 sts Parameter_Servo5,r243511 1b24 8091 0000 lds r24,EE_Parameter+163512 1b28 883F cpi r24,lo8(-8)3513 1b2a 00F0 brlo .L3353514 1b2c EFEF ldi r30,lo8(255)3515 1b2e F0E0 ldi r31,hi8(255)3516 1b30 E81B sub r30,r243517 1b32 F109 sbc r31,__zero_reg__3518 1b34 E050 subi r30,lo8(-(Poti))3519 1b36 F040 sbci r31,hi8(-(Poti))3520 1b38 8081 ld r24,Z3521 .L335:3522 1b3a 8093 0000 sts Parameter_HoehenSchalter,r243523 1b3e 8091 0000 lds r24,EE_Parameter+193524 1b42 883F cpi r24,lo8(-8)3525 1b44 00F0 brlo .L3363526 1b46 EFEF ldi r30,lo8(255)3527 1b48 F0E0 ldi r31,hi8(255)3528 1b4a E81B sub r30,r243529 1b4c F109 sbc r31,__zero_reg__3530 1b4e E050 subi r30,lo8(-(Poti))3531 1b50 F040 sbci r31,hi8(-(Poti))3532 1b52 8081 ld r24,Z3533 .L336:3534 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243535 1b58 8091 0000 lds r24,EE_Parameter+213536 1b5c 883F cpi r24,lo8(-8)3537 1b5e 00F0 brlo .L3373538 1b60 EFEF ldi r30,lo8(255)3539 1b62 F0E0 ldi r31,hi8(255)3540 1b64 E81B sub r30,r243541 1b66 F109 sbc r31,__zero_reg__3542 1b68 E050 subi r30,lo8(-(Poti))3543 1b6a F040 sbci r31,hi8(-(Poti))3544 1b6c 8081 ld r24,Z3545 .L337:3546 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r243547 1b72 8091 0000 lds r24,EE_Parameter+293548 1b76 883F cpi r24,lo8(-8)3549 1b78 00F0 brlo .L3383550 1b7a EFEF ldi r30,lo8(255)3551 1b7c F0E0 ldi r31,hi8(255)3552 1b7e E81B sub r30,r243553 1b80 F109 sbc r31,__zero_reg__3554 1b82 E050 subi r30,lo8(-(Poti))3555 1b84 F040 sbci r31,hi8(-(Poti))3556 1b86 8081 ld r24,Z3557 .L338:3558 1b88 8093 0000 sts Parameter_KompassWirkung,r243559 1b8c 8091 0000 lds r24,EE_Parameter+313560 1b90 883F cpi r24,lo8(-8)3561 1b92 00F0 brlo .L3393562 1b94 EFEF ldi r30,lo8(255)3563 1b96 F0E0 ldi r31,hi8(255)3564 1b98 E81B sub r30,r243565 1b9a F109 sbc r31,__zero_reg__3566 1b9c E050 subi r30,lo8(-(Poti))3567 1b9e F040 sbci r31,hi8(-(Poti))3568 1ba0 8081 ld r24,Z3569 .L339:3570 1ba2 8093 0000 sts Parameter_Gyro_I,r243571 1ba6 8091 0000 lds r24,EE_Parameter+323572 1baa 883F cpi r24,lo8(-8)3573 1bac 00F0 brlo .L3403574 1bae EFEF ldi r30,lo8(255)3575 1bb0 F0E0 ldi r31,hi8(255)3576 1bb2 E81B sub r30,r243577 1bb4 F109 sbc r31,__zero_reg__3578 1bb6 E050 subi r30,lo8(-(Poti))3579 1bb8 F040 sbci r31,hi8(-(Poti))3580 1bba 8081 ld r24,Z3581 .L340:3582 1bbc 8093 0000 sts Parameter_Gyro_D,r243583 1bc0 8091 0000 lds r24,EE_Parameter+333584 1bc4 883F cpi r24,lo8(-8)3585 1bc6 00F0 brlo .L3413586 1bc8 EFEF ldi r30,lo8(255)3587 1bca F0E0 ldi r31,hi8(255)3588 1bcc E81B sub r30,r243589 1bce F109 sbc r31,__zero_reg__3590 1bd0 E050 subi r30,lo8(-(Poti))3591 1bd2 F040 sbci r31,hi8(-(Poti))3592 1bd4 8081 ld r24,Z3593 .L341:3594 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r243595 1bda 8091 0000 lds r24,EE_Parameter+343596 1bde 883F cpi r24,lo8(-8)3597 1be0 00F0 brlo .L3423598 1be2 EFEF ldi r30,lo8(255)3599 1be4 F0E0 ldi r31,hi8(255)3600 1be6 E81B sub r30,r243601 1be8 F109 sbc r31,__zero_reg__3602 1bea E050 subi r30,lo8(-(Poti))3603 1bec F040 sbci r31,hi8(-(Poti))3604 1bee 8081 ld r24,Z3605 .L342:3606 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r243607 1bf4 8091 0000 lds r24,EE_Parameter+403608 1bf8 883F cpi r24,lo8(-8)3609 1bfa 00F0 brlo .L3433610 1bfc EFEF ldi r30,lo8(255)3611 1bfe F0E0 ldi r31,hi8(255)3612 1c00 E81B sub r30,r243613 1c02 F109 sbc r31,__zero_reg__3614 1c04 E050 subi r30,lo8(-(Poti))3615 1c06 F040 sbci r31,hi8(-(Poti))3616 1c08 8081 ld r24,Z3617 .L343:3618 1c0a 8093 0000 sts Parameter_I_Faktor,r243619 1c0e 8091 0000 lds r24,EE_Parameter+413620 1c12 883F cpi r24,lo8(-8)3621 1c14 00F0 brlo .L3443622 1c16 EFEF ldi r30,lo8(255)3623 1c18 F0E0 ldi r31,hi8(255)3624 1c1a E81B sub r30,r243625 1c1c F109 sbc r31,__zero_reg__3626 1c1e E050 subi r30,lo8(-(Poti))3627 1c20 F040 sbci r31,hi8(-(Poti))3628 1c22 8081 ld r24,Z3629 .L344:3630 1c24 8093 0000 sts Parameter_UserParam1,r243631 1c28 8091 0000 lds r24,EE_Parameter+423632 1c2c 883F cpi r24,lo8(-8)3633 1c2e 00F0 brlo .L3453634 1c30 EFEF ldi r30,lo8(255)3635 1c32 F0E0 ldi r31,hi8(255)3636 1c34 E81B sub r30,r243637 1c36 F109 sbc r31,__zero_reg__3638 1c38 E050 subi r30,lo8(-(Poti))3639 1c3a F040 sbci r31,hi8(-(Poti))3640 1c3c 8081 ld r24,Z3641 .L345:3642 1c3e 8093 0000 sts Parameter_UserParam2,r243643 1c42 8091 0000 lds r24,EE_Parameter+433644 1c46 883F cpi r24,lo8(-8)3645 1c48 00F0 brlo .L3463646 1c4a EFEF ldi r30,lo8(255)3647 1c4c F0E0 ldi r31,hi8(255)3648 1c4e E81B sub r30,r243649 1c50 F109 sbc r31,__zero_reg__3650 1c52 E050 subi r30,lo8(-(Poti))3651 1c54 F040 sbci r31,hi8(-(Poti))3652 1c56 8081 ld r24,Z3653 .L346:3654 1c58 8093 0000 sts Parameter_UserParam3,r243655 1c5c 8091 0000 lds r24,EE_Parameter+443656 1c60 883F cpi r24,lo8(-8)3657 1c62 00F0 brlo .L3473658 1c64 EFEF ldi r30,lo8(255)3659 1c66 F0E0 ldi r31,hi8(255)3660 1c68 E81B sub r30,r243661 1c6a F109 sbc r31,__zero_reg__3662 1c6c E050 subi r30,lo8(-(Poti))3663 1c6e F040 sbci r31,hi8(-(Poti))3664 1c70 8081 ld r24,Z3665 .L347:3666 1c72 8093 0000 sts Parameter_UserParam4,r243667 1c76 8091 0000 lds r24,EE_Parameter+703668 1c7a 883F cpi r24,lo8(-8)3669 1c7c 00F0 brlo .L3483670 1c7e EFEF ldi r30,lo8(255)3671 1c80 F0E0 ldi r31,hi8(255)3672 1c82 E81B sub r30,r243673 1c84 F109 sbc r31,__zero_reg__3674 1c86 E050 subi r30,lo8(-(Poti))3675 1c88 F040 sbci r31,hi8(-(Poti))3676 1c8a 8081 ld r24,Z3677 .L348:3678 1c8c 8093 0000 sts Parameter_UserParam5,r243679 1c90 8091 0000 lds r24,EE_Parameter+713680 1c94 883F cpi r24,lo8(-8)3681 1c96 00F0 brlo .L3493682 1c98 EFEF ldi r30,lo8(255)3683 1c9a F0E0 ldi r31,hi8(255)3684 1c9c E81B sub r30,r243685 1c9e F109 sbc r31,__zero_reg__3686 1ca0 E050 subi r30,lo8(-(Poti))3687 1ca2 F040 sbci r31,hi8(-(Poti))3688 1ca4 8081 ld r24,Z3689 .L349:3690 1ca6 8093 0000 sts Parameter_UserParam6,r243691 1caa 8091 0000 lds r24,EE_Parameter+723692 1cae 883F cpi r24,lo8(-8)3693 1cb0 00F0 brlo .L3503694 1cb2 EFEF ldi r30,lo8(255)3695 1cb4 F0E0 ldi r31,hi8(255)3696 1cb6 E81B sub r30,r243697 1cb8 F109 sbc r31,__zero_reg__3698 1cba E050 subi r30,lo8(-(Poti))3699 1cbc F040 sbci r31,hi8(-(Poti))3700 1cbe 8081 ld r24,Z3701 .L350:3702 1cc0 8093 0000 sts Parameter_UserParam7,r243703 1cc4 8091 0000 lds r24,EE_Parameter+733704 1cc8 883F cpi r24,lo8(-8)3705 1cca 00F0 brlo .L3513706 1ccc EFEF ldi r30,lo8(255)3707 1cce F0E0 ldi r31,hi8(255)3708 1cd0 E81B sub r30,r243709 1cd2 F109 sbc r31,__zero_reg__3710 1cd4 E050 subi r30,lo8(-(Poti))3711 1cd6 F040 sbci r31,hi8(-(Poti))3712 1cd8 8081 ld r24,Z3713 .L351:3714 1cda 8093 0000 sts Parameter_UserParam8,r243715 1cde 8091 0000 lds r24,EE_Parameter+453716 1ce2 883F cpi r24,lo8(-8)3717 1ce4 00F0 brlo .L3523718 1ce6 EFEF ldi r30,lo8(255)3719 1ce8 F0E0 ldi r31,hi8(255)3720 1cea E81B sub r30,r243721 1cec F109 sbc r31,__zero_reg__3722 1cee E050 subi r30,lo8(-(Poti))3723 1cf0 F040 sbci r31,hi8(-(Poti))3724 1cf2 8081 ld r24,Z3725 .L352:3726 1cf4 8093 0000 sts Parameter_ServoNickControl,r243727 1cf8 8091 0000 lds r24,EE_Parameter+493728 1cfc 883F cpi r24,lo8(-8)3729 1cfe 00F0 brlo .L3533730 1d00 EFEF ldi r30,lo8(255)3731 1d02 F0E0 ldi r31,hi8(255)3732 1d04 E81B sub r30,r243733 1d06 F109 sbc r31,__zero_reg__3734 1d08 E050 subi r30,lo8(-(Poti))3735 1d0a F040 sbci r31,hi8(-(Poti))3736 1d0c 8081 ld r24,Z3737 .L353:3738 1d0e 8093 0000 sts Parameter_ServoRollControl,r243739 1d12 8091 0000 lds r24,EE_Parameter+593740 1d16 883F cpi r24,lo8(-8)3741 1d18 00F0 brlo .L3543742 1d1a EFEF ldi r30,lo8(255)3743 1d1c F0E0 ldi r31,hi8(255)3744 1d1e E81B sub r30,r243745 1d20 F109 sbc r31,__zero_reg__3746 1d22 E050 subi r30,lo8(-(Poti))3747 1d24 F040 sbci r31,hi8(-(Poti))3748 1d26 8081 ld r24,Z3749 .L354:3750 1d28 8093 0000 sts Parameter_LoopGasLimit,r243751 1d2c 8091 0000 lds r24,EE_Parameter+623752 1d30 883F cpi r24,lo8(-8)3753 1d32 00F0 brlo .L3553754 1d34 EFEF ldi r30,lo8(255)3755 1d36 F0E0 ldi r31,hi8(255)3756 1d38 E81B sub r30,r243757 1d3a F109 sbc r31,__zero_reg__3758 1d3c E050 subi r30,lo8(-(Poti))3759 1d3e F040 sbci r31,hi8(-(Poti))3760 1d40 8081 ld r24,Z3761 .L355:3762 1d42 8093 0000 sts Parameter_AchsKopplung1,r243763 1d46 8091 0000 lds r24,EE_Parameter+633764 1d4a 883F cpi r24,lo8(-8)3765 1d4c 00F0 brlo .L3563766 1d4e EFEF ldi r30,lo8(255)3767 1d50 F0E0 ldi r31,hi8(255)3768 1d52 E81B sub r30,r243769 1d54 F109 sbc r31,__zero_reg__3770 1d56 E050 subi r30,lo8(-(Poti))3771 1d58 F040 sbci r31,hi8(-(Poti))3772 1d5a 8081 ld r24,Z3773 .L356:3774 1d5c 8093 0000 sts Parameter_AchsKopplung2,r243775 1d60 8091 0000 lds r24,EE_Parameter+643776 1d64 883F cpi r24,lo8(-8)3777 1d66 00F0 brlo .L3573778 1d68 EFEF ldi r30,lo8(255)3779 1d6a F0E0 ldi r31,hi8(255)3780 1d6c E81B sub r30,r243781 1d6e F109 sbc r31,__zero_reg__3782 1d70 E050 subi r30,lo8(-(Poti))3783 1d72 F040 sbci r31,hi8(-(Poti))3784 1d74 8081 ld r24,Z3785 .L357:3786 1d76 8093 0000 sts Parameter_CouplingYawCorrection,r243787 1d7a 8091 0000 lds r24,EE_Parameter+1043788 1d7e 883F cpi r24,lo8(-8)3789 1d80 00F0 brlo .L3583790 1d82 EFEF ldi r30,lo8(255)3791 1d84 F0E0 ldi r31,hi8(255)3792 1d86 E81B sub r30,r243793 1d88 F109 sbc r31,__zero_reg__3794 1d8a E050 subi r30,lo8(-(Poti))3795 1d8c F040 sbci r31,hi8(-(Poti))3796 1d8e 8081 ld r24,Z3797 .L358:3798 1d90 8093 0000 sts Parameter_MaximumAltitude,r243799 1d94 9091 0000 lds r25,NC_To_FC_MaxAltitude3800 1d98 9923 tst r253801 1d9a 01F0 breq .L3013802 1d9c 8091 0000 lds r24,Parameter_MaximumAltitude3803 1da0 9817 cp r25,r243804 1da2 00F0 brlo .L3003805 .L301:3806 1da4 8091 0000 lds r24,Parameter_MaximumAltitude3807 1da8 8823 tst r243808 1daa 01F4 brne .L2993809 .L300:3810 1dac 9093 0000 sts Parameter_MaximumAltitude,r253811 .L299:3812 1db0 8091 0000 lds r24,EE_Parameter+133813 1db4 8093 0000 sts Parameter_GlobalConfig,r243814 1db8 8091 0000 lds r24,EE_Parameter+1103815 1dbc 8093 0000 sts Parameter_ExtraConfig,r243816 1dc0 8091 0000 lds r24,EE_Parameter+693817 1dc4 883F cpi r24,lo8(-8)3818 1dc6 00F0 brlo .L3593819 1dc8 EFEF ldi r30,lo8(255)3820 1dca F0E0 ldi r31,hi8(255)3821 1dcc E81B sub r30,r243822 1dce F109 sbc r31,__zero_reg__3823 1dd0 E050 subi r30,lo8(-(Poti))3824 1dd2 F040 sbci r31,hi8(-(Poti))3825 1dd4 8081 ld r24,Z3826 .L359:3827 1dd6 8093 0000 sts Parameter_DynamicStability,r243828 1dda 8091 0000 lds r24,EE_Parameter+973829 1dde 883F cpi r24,lo8(-8)3830 1de0 00F0 brlo .L3603831 1de2 EFEF ldi r30,lo8(255)3832 1de4 F0E0 ldi r31,hi8(255)3833 1de6 E81B sub r30,r243834 1de8 F109 sbc r31,__zero_reg__3835 1dea E050 subi r30,lo8(-(Poti))3836 1dec F040 sbci r31,hi8(-(Poti))3837 1dee 8081 ld r24,Z3838 .L360:3839 1df0 8093 0000 sts Parameter_ExternalControl,r243840 1df4 8091 0000 lds r24,Parameter_I_Faktor3841 1df8 282F mov r18,r243842 1dfa 3327 clr r193843 1dfc 2F5F subi r18,lo8(-(1))3844 1dfe 3F4F sbci r19,hi8(-(1))3845 1e00 8CE3 ldi r24,lo8(10300)3846 1e02 98E2 ldi r25,hi8(10300)3847 1e04 B901 movw r22,r183848 1e06 0E94 0000 call __divmodhi43849 1e0a 7093 0000 sts (Ki)+1,r233850 1e0e 6093 0000 sts Ki,r223851 1e12 8091 0000 lds r24,EE_Parameter+273852 1e16 8093 0000 sts MAX_GAS,r243853 1e1a 8091 0000 lds r24,EE_Parameter+263854 1e1e 8093 0000 sts MIN_GAS,r243855 1e22 9091 0000 lds r25,EE_Parameter+993856 1e26 9333 cpi r25,lo8(51)3857 1e28 00F4 brsh .+23858 1e2a 00C0 rjmp .L3063859 1e2c 81E0 ldi r24,lo8(1)3860 1e2e 8093 0000 sts CareFree,r243861 1e32 983F cpi r25,lo8(-8)3862 1e34 00F0 brlo .L3073863 1e36 EFEF ldi r30,lo8(255)3864 1e38 F0E0 ldi r31,hi8(255)3865 1e3a E91B sub r30,r253866 1e3c F109 sbc r31,__zero_reg__3867 1e3e E050 subi r30,lo8(-(Poti))3868 1e40 F040 sbci r31,hi8(-(Poti))3869 1e42 8081 ld r24,Z3870 1e44 8233 cpi r24,lo8(50)3871 1e46 00F4 brsh .L3073872 1e48 1092 0000 sts CareFree,__zero_reg__3873 .L307:3874 1e4c 8091 0000 lds r24,carefree_old3875 1e50 2091 0000 lds r18,CareFree3876 1e54 8217 cp r24,r183877 1e56 01F0 breq .L3083878 1e58 8330 cpi r24,lo8(3)3879 1e5a 00F4 brsh .L3093880 1e5c 3091 0000 lds r19,SpeakHoTT3881 1e60 2223 tst r183882 1e62 01F0 breq .L3103883 1e64 8CED ldi r24,lo8(1500)3884 1e66 95E0 ldi r25,hi8(1500)3885 1e68 9093 0000 sts (beeptime)+1,r253886 1e6c 8093 0000 sts beeptime,r243887 1e70 3323 tst r193888 1e72 01F4 brne .L3123889 1e74 8EE2 ldi r24,lo8(46)3890 1e76 00C0 rjmp .L3613891 .L310:3892 1e78 88EC ldi r24,lo8(200)3893 1e7a 90E0 ldi r25,hi8(200)3894 1e7c 9093 0000 sts (beeptime)+1,r253895 1e80 8093 0000 sts beeptime,r243896 1e84 3323 tst r193897 1e86 01F4 brne .L3123898 1e88 87E1 ldi r24,lo8(23)3899 .L361:3900 1e8a 8093 0000 sts SpeakHoTT,r243901 .L312:3902 1e8e 85E0 ldi r24,lo8(5)3903 1e90 8093 0000 sts NeueKompassRichtungMerken,r243904 1e94 2093 0000 sts carefree_old,r183905 1e98 00C0 rjmp .L3083906 .L309:3907 1e9a 8150 subi r24,lo8(-(-1))3908 1e9c 8093 0000 sts carefree_old,r243909 .L308:3910 1ea0 8091 0000 lds r24,FromNaviCtrl+73911 1ea4 9091 0000 lds r25,(FromNaviCtrl+7)+13912 1ea8 97FF sbrs r25,73913 1eaa 00C0 rjmp .L3163914 1eac 8091 0000 lds r24,CareFree3915 1eb0 8823 tst r243916 1eb2 01F0 breq .L3163917 1eb4 8091 0000 lds r24,VersionInfo+53918 1eb8 8068 ori r24,lo8(-128)3919 1eba 8093 0000 sts VersionInfo+5,r243920 1ebe 00C0 rjmp .L3163921 .L306:3922 1ec0 1092 0000 sts CareFree,__zero_reg__3923 1ec4 8AE0 ldi r24,lo8(10)3924 1ec6 8093 0000 sts carefree_old,r243925 .L316:3926 1eca 8091 0000 lds r24,FromNaviCtrl+73927 1ece 9091 0000 lds r25,(FromNaviCtrl+7)+13928 1ed2 97FF sbrs r25,73929 1ed4 00C0 rjmp .L3173930 1ed6 8091 0000 lds r24,MotorenEin3931 1eda 8823 tst r243932 1edc 01F0 breq .L3173933 1ede 8091 0000 lds r24,CareFree3934 1ee2 8823 tst r243935 1ee4 01F0 breq .L3173936 1ee6 8091 0000 lds r24,BeepMuster3937 1eea 9091 0000 lds r25,(BeepMuster)+13938 1eee 8F5F subi r24,lo8(-1)3939 1ef0 9F4F sbci r25,hi8(-1)3940 1ef2 01F4 brne .L3173941 1ef4 88E9 ldi r24,lo8(15000)3942 1ef6 9AE3 ldi r25,hi8(15000)3943 1ef8 9093 0000 sts (beeptime)+1,r253944 1efc 8093 0000 sts beeptime,r243945 1f00 80E0 ldi r24,lo8(-23552)3946 1f02 94EA ldi r25,hi8(-23552)3947 1f04 9093 0000 sts (BeepMuster)+1,r253948 1f08 8093 0000 sts BeepMuster,r243949 1f0c 1092 0000 sts CareFree,__zero_reg__3950 .L317:3951 1f10 8091 0000 lds r24,CareFree3952 1f14 8823 tst r243953 1f16 01F0 breq .L3183954 1f18 8091 0000 lds r24,FC_StatusFlags23955 1f1c 8160 ori r24,lo8(1)3956 1f1e 8093 0000 sts FC_StatusFlags2,r243957 1f22 8091 0000 lds r24,Parameter_AchsKopplung13958 1f26 823D cpi r24,lo8(-46)3959 1f28 00F4 brsh .L1903960 1f2a 825E subi r24,lo8(-(30))3961 1f2c 8093 0000 sts Parameter_AchsKopplung1,r243962 1f30 00C0 rjmp .L1903963 .L318:3964 1f32 8091 0000 lds r24,FC_StatusFlags23965 1f36 8E7F andi r24,lo8(-2)3966 1f38 8093 0000 sts FC_StatusFlags2,r243967 .L190:3968 /* epilogue: frame size=0 */3969 1f3c DF91 pop r293970 1f3e CF91 pop r283971 1f40 0895 ret3972 /* epilogue end (size=3) */3973 /* function ParameterZuordnung size 772 (767) */3975 .lcomm sollGier.0,43976 .lcomm tmp_long.1,43977 .lcomm tmp_long2.2,43978 .lcomm IntegralFehlerNick.3,43979 .lcomm IntegralFehlerRoll.4,43980 .lcomm RcLostTimer.5,23981 .lcomm delay_neutral.6,13982 .lcomm delay_einschalten.7,13983 .lcomm delay_ausschalten.8,13984 .lcomm move_safety_switch.9,13985 .lcomm ausgleichNick.10,43986 .lcomm ausgleichRoll.11,43987 .lcomm stick_nick.12,23988 .lcomm stick_roll.13,23989 .lcomm cnt.14,23990 .lcomm last_n_p.15,13991 .lcomm last_n_n.16,13992 .lcomm last_r_p.17,13993 .lcomm last_r_n.18,13994 .lcomm MittelIntegralNick_Alt.19,43995 .lcomm MittelIntegralRoll_Alt.20,43996 .lcomm HeightTrimming.21,23997 .lcomm FilterHCGas.22,23998 .lcomm HoverGasFilter.23,43999 .data4002 delay.24:4003 004f 64 .byte 1004004 .lcomm BaroAtUpperLimit.25,14005 .lcomm BaroAtLowerLimit.26,14006 .text4007 .global MotorRegler4009 MotorRegler:4010 /* prologue: frame size=23 */4011 1f42 A7E1 ldi r26,lo8(23)4012 1f44 B0E0 ldi r27,hi8(23)4013 1f46 E0E0 ldi r30,pm_lo8(1f)4014 1f48 F0E0 ldi r31,pm_hi8(1f)4015 1f4a 0C94 0000 jmp __prologue_saves__+04016 1:4017 /* prologue end (size=6) */4018 1f4e 0E94 0000 call Mittelwert4019 1f52 8091 0000 lds r24,FC_StatusFlags4020 1f56 9927 clr r254021 1f58 8471 andi r24,lo8(20)4022 1f5a 9070 andi r25,hi8(20)4023 1f5c 892B or r24,r254024 1f5e 01F4 brne .L3654025 1f60 8091 0000 lds r24,EE_Parameter+1114026 1f64 82FF sbrs r24,24027 1f66 00C0 rjmp .L3664028 1f68 8091 0000 lds r24,HoverGas4029 1f6c 9091 0000 lds r25,(HoverGas)+14030 1f70 0097 sbiw r24,04031 1f72 01F0 breq .L3674032 1f74 02E0 ldi r16,hi8(600)4033 1f76 8835 cpi r24,lo8(600)4034 1f78 9007 cpc r25,r164035 1f7a 04F4 brge .L3674036 1f7c 9C01 movw r18,r244037 1f7e 97FF sbrs r25,74038 1f80 00C0 rjmp .L3684039 1f82 2D5F subi r18,lo8(-(3))4040 1f84 3F4F sbci r19,hi8(-(3))4041 .L368:4042 1f86 3595 asr r194043 1f88 2795 ror r184044 1f8a 3595 asr r194045 1f8c 2795 ror r184046 1f8e 8091 0000 lds r24,EE_Parameter+374047 1f92 9927 clr r254048 1f94 289F mul r18,r244049 1f96 A001 movw r20,r04050 1f98 299F mul r18,r254051 1f9a 500D add r21,r04052 1f9c 389F mul r19,r244053 1f9e 500D add r21,r04054 1fa0 1124 clr r14055 1fa2 CA01 movw r24,r204056 1fa4 64E6 ldi r22,lo8(100)4057 1fa6 70E0 ldi r23,hi8(100)4058 1fa8 0E94 0000 call __divmodhi44059 1fac CB01 movw r24,r224060 1fae 00C0 rjmp .L8874061 .L367:4062 1fb0 8DE2 ldi r24,lo8(45)4063 1fb2 90E0 ldi r25,hi8(45)4064 1fb4 00C0 rjmp .L8874065 .L366:4066 1fb6 8091 0000 lds r24,EE_Parameter+374067 1fba 9927 clr r254068 .L887:4069 1fbc 9093 0000 sts (HooverGasEmergencyPercent)+1,r254070 1fc0 8093 0000 sts HooverGasEmergencyPercent,r244071 .L365:4072 1fc4 2091 0000 lds r18,GasIsZeroCnt4073 1fc8 3091 0000 lds r19,(GasIsZeroCnt)+14074 1fcc 55E7 ldi r21,hi8(30000)4075 1fce 2033 cpi r18,lo8(30000)4076 1fd0 3507 cpc r19,r214077 1fd2 01F4 brne .L3714078 1fd4 1092 0000 sts (StickGas)+1,__zero_reg__4079 1fd8 1092 0000 sts StickGas,__zero_reg__4080 1fdc 8091 0000 lds r24,MIN_GAS4081 1fe0 9927 clr r254082 1fe2 9093 0000 sts (HooverGasEmergencyPercent)+1,r254083 1fe6 8093 0000 sts HooverGasEmergencyPercent,r244084 .L371:4085 1fea 6091 0000 lds r22,StickGas4086 1fee 7091 0000 lds r23,(StickGas)+14087 1ff2 7A83 std Y+2,r234088 1ff4 6983 std Y+1,r224089 1ff6 8091 0000 lds r24,MIN_GAS4090 1ffa 9927 clr r254091 1ffc 0A96 adiw r24,104092 1ffe 6817 cp r22,r244093 2000 7907 cpc r23,r254094 2002 04F4 brge .L3724095 2004 9A83 std Y+2,r254096 2006 8983 std Y+1,r244097 .L372:4098 2008 8091 0000 lds r24,SenderOkay4099 200c 8436 cpi r24,lo8(100)4100 200e 00F0 brlo .+24101 2010 00C0 rjmp .L3734102 2012 8091 0000 lds r24,FC_StatusFlags24103 2016 82FD sbrc r24,24104 2018 00C0 rjmp .L3734105 201a 8091 0000 lds r24,RcLostTimer.54106 201e 9091 0000 lds r25,(RcLostTimer.5)+14107 2022 0097 sbiw r24,04108 2024 01F0 breq .L3744109 2026 0197 sbiw r24,14110 2028 9093 0000 sts (RcLostTimer.5)+1,r254111 202c 8093 0000 sts RcLostTimer.5,r244112 2030 00C0 rjmp .L3754113 .L374:4114 2032 1092 0000 sts MotorenEin,__zero_reg__4115 2036 9093 0000 sts (modell_fliegt)+1,r254116 203a 8093 0000 sts modell_fliegt,r244117 203e 8091 0000 lds r24,FC_StatusFlags4118 2042 8D7E andi r24,lo8(-19)4119 2044 8093 0000 sts FC_StatusFlags,r244120 .L375:4121 2048 8091 0000 lds r24,PlatinenVersion4122 204c 8A30 cpi r24,lo8(10)4123 204e 01F0 breq .L3774124 2050 8431 cpi r24,lo8(20)4125 2052 00F0 brlo .L3764126 .L377:4127 2054 289A sbi 37-0x20,04128 2056 00C0 rjmp .L3784129 .L376:4130 2058 2898 cbi 37-0x20,04131 .L378:4132 205a 8091 0000 lds r24,modell_fliegt4133 205e 9091 0000 lds r25,(modell_fliegt)+14134 2062 895E subi r24,lo8(1001)4135 2064 9340 sbci r25,hi8(1001)4136 2066 00F0 brlo .L3794137 2068 8091 0000 lds r24,Capacity+64138 206c 8536 cpi r24,lo8(101)4139 206e 00F0 brlo .L3794140 2070 8091 0000 lds r24,HooverGasEmergencyPercent4141 2074 9091 0000 lds r25,(HooverGasEmergencyPercent)+14142 2078 9A83 std Y+2,r254143 207a 8983 std Y+1,r244144 207c 8091 0000 lds r24,FC_StatusFlags4145 2080 8061 ori r24,lo8(16)4146 2082 8093 0000 sts FC_StatusFlags,r244147 2086 8091 0000 lds r24,EE_Parameter+14148 208a A82F mov r26,r244149 208c BB27 clr r274150 208e AA0F add r26,r264151 2090 BB1F adc r27,r274152 2092 FD01 movw r30,r264153 2094 E050 subi r30,lo8(-(PPM_diff))4154 2096 F040 sbci r31,hi8(-(PPM_diff))4155 2098 1182 std Z+1,__zero_reg__4156 209a 1082 st Z,__zero_reg__4157 209c 8091 0000 lds r24,EE_Parameter+24158 20a0 282F mov r18,r244159 20a2 3327 clr r194160 20a4 220F add r18,r184161 20a6 331F adc r19,r194162 20a8 C901 movw r24,r184163 20aa 8050 subi r24,lo8(-(PPM_diff))4164 20ac 9040 sbci r25,hi8(-(PPM_diff))4165 20ae FC01 movw r30,r244166 20b0 1182 std Z+1,__zero_reg__4167 20b2 1082 st Z,__zero_reg__4168 20b4 A050 subi r26,lo8(-(PPM_in))4169 20b6 B040 sbci r27,hi8(-(PPM_in))4170 20b8 1196 adiw r26,14171 20ba 1C92 st X,__zero_reg__4172 20bc 1E92 st -X,__zero_reg__4173 20be 2050 subi r18,lo8(-(PPM_in))4174 20c0 3040 sbci r19,hi8(-(PPM_in))4175 20c2 D901 movw r26,r184176 20c4 1196 adiw r26,14177 20c6 1C92 st X,__zero_reg__4178 20c8 1E92 st -X,__zero_reg__4179 20ca 8091 0000 lds r24,EE_Parameter+44180 20ce E82F mov r30,r244181 20d0 FF27 clr r314182 20d2 EE0F add r30,r304183 20d4 FF1F adc r31,r314184 20d6 E050 subi r30,lo8(-(PPM_in))4185 20d8 F040 sbci r31,hi8(-(PPM_in))4186 20da 1182 std Z+1,__zero_reg__4187 20dc 1082 st Z,__zero_reg__4188 20de 00C0 rjmp .L3814189 .L379:4190 20e0 1092 0000 sts MotorenEin,__zero_reg__4191 20e4 00C0 rjmp .L3814192 .L373:4193 20e6 8091 0000 lds r24,SenderOkay4194 20ea 8D38 cpi r24,lo8(-115)4195 20ec 00F4 brsh .+24196 20ee 00C0 rjmp .L3824197 20f0 8091 0000 lds r24,FC_StatusFlags4198 20f4 8F7E andi r24,lo8(-17)4199 20f6 8093 0000 sts FC_StatusFlags,r244200 20fa 9091 0000 lds r25,EE_Parameter+384201 20fe 82E3 ldi r24,lo8(50)4202 2100 989F mul r25,r244203 2102 C001 movw r24,r04204 2104 1124 clr r14205 2106 9093 0000 sts (RcLostTimer.5)+1,r254206 210a 8093 0000 sts RcLostTimer.5,r244207 210e E981 ldd r30,Y+14208 2110 FA81 ldd r31,Y+24209 2112 B997 sbiw r30,414210 2114 04F0 brlt .L3834211 2116 8091 0000 lds r24,MotorenEin4212 211a 8823 tst r244213 211c 01F0 breq .L3834214 211e 8091 0000 lds r24,modell_fliegt4215 2122 9091 0000 lds r25,(modell_fliegt)+14216 2126 FFEF ldi r31,hi8(-1)4217 2128 8F3F cpi r24,lo8(-1)4218 212a 9F07 cpc r25,r314219 212c 01F0 breq .L3834220 212e 0196 adiw r24,14221 2130 9093 0000 sts (modell_fliegt)+1,r254222 2134 8093 0000 sts modell_fliegt,r244223 .L383:4224 2138 8091 0000 lds r24,modell_fliegt4225 213c 9091 0000 lds r25,(modell_fliegt)+14226 2140 8F3F cpi r24,2554227 2142 9105 cpc r25,__zero_reg__4228 2144 01F0 breq .+24229 2146 00F4 brsh .L3854230 2148 1092 0000 sts SummeNick,__zero_reg__4231 214c 1092 0000 sts (SummeNick)+1,__zero_reg__4232 2150 1092 0000 sts (SummeNick)+2,__zero_reg__4233 2154 1092 0000 sts (SummeNick)+3,__zero_reg__4234 2158 1092 0000 sts SummeRoll,__zero_reg__4235 215c 1092 0000 sts (SummeRoll)+1,__zero_reg__4236 2160 1092 0000 sts (SummeRoll)+2,__zero_reg__4237 2164 1092 0000 sts (SummeRoll)+3,__zero_reg__4238 2168 1092 0000 sts sollGier.0,__zero_reg__4239 216c 1092 0000 sts (sollGier.0)+1,__zero_reg__4240 2170 1092 0000 sts (sollGier.0)+2,__zero_reg__4241 2174 1092 0000 sts (sollGier.0)+3,__zero_reg__4242 2178 1092 0000 sts Mess_Integral_Gier,__zero_reg__4243 217c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4244 2180 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4245 2184 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4246 2188 00C0 rjmp .L3864247 .L385:4248 218a 8091 0000 lds r24,FC_StatusFlags4249 218e 8260 ori r24,lo8(2)4250 2190 8093 0000 sts FC_StatusFlags,r244251 .L386:4252 2194 8091 0000 lds r24,EE_Parameter+34253 2198 E82F mov r30,r244254 219a FF27 clr r314255 219c EE0F add r30,r304256 219e FF1F adc r31,r314257 21a0 E050 subi r30,lo8(-(PPM_in))4258 21a2 F040 sbci r31,hi8(-(PPM_in))4259 21a4 8081 ld r24,Z4260 21a6 9181 ldd r25,Z+14261 21a8 8135 cpi r24,814262 21aa 9105 cpc r25,__zero_reg__4263 21ac 04F4 brge .+24264 21ae 00C0 rjmp .L3874265 21b0 2091 0000 lds r18,MotorenEin4266 21b4 2223 tst r184267 21b6 01F0 breq .+24268 21b8 00C0 rjmp .L3874269 21ba 8091 0000 lds r24,EE_Parameter+44270 21be E82F mov r30,r244271 21c0 FF27 clr r314272 21c2 EE0F add r30,r304273 21c4 FF1F adc r31,r314274 21c6 E050 subi r30,lo8(-(PPM_in))4275 21c8 F040 sbci r31,hi8(-(PPM_in))4276 21ca 8081 ld r24,Z4277 21cc 9181 ldd r25,Z+14278 21ce 8C34 cpi r24,764279 21d0 9105 cpc r25,__zero_reg__4280 21d2 04F4 brge .+24281 21d4 00C0 rjmp .L3884282 21d6 8091 0000 lds r24,delay_neutral.64283 21da 8F5F subi r24,lo8(-(1))4284 21dc 8093 0000 sts delay_neutral.6,r244285 21e0 893C cpi r24,lo8(-55)4286 21e2 00F4 brsh .+24287 21e4 00C0 rjmp .L3874288 21e6 2093 0000 sts delay_neutral.6,r184289 21ea 1092 0000 sts (modell_fliegt)+1,__zero_reg__4290 21ee 1092 0000 sts modell_fliegt,__zero_reg__4291 21f2 3091 0000 lds r19,EE_Parameter+14292 21f6 E32F mov r30,r194293 21f8 FF27 clr r314294 21fa EE0F add r30,r304295 21fc FF1F adc r31,r314296 21fe E050 subi r30,lo8(-(PPM_in))4297 2200 F040 sbci r31,hi8(-(PPM_in))4298 2202 8081 ld r24,Z4299 2204 9181 ldd r25,Z+14300 2206 8734 cpi r24,714301 2208 9105 cpc r25,__zero_reg__4302 220a 04F4 brge .L3914303 220c 8091 0000 lds r24,EE_Parameter+24304 2210 E82F mov r30,r244305 2212 FF27 clr r314306 2214 EE0F add r30,r304307 2216 FF1F adc r31,r314308 2218 E050 subi r30,lo8(-(PPM_in))4309 221a F040 sbci r31,hi8(-(PPM_in))4310 221c 8081 ld r24,Z4311 221e 9181 ldd r25,Z+14312 2220 0190 ld __tmp_reg__,Z+4313 2222 F081 ld r31,Z4314 2224 E02D mov r30,__tmp_reg__4315 2226 F7FF sbrs r31,74316 2228 00C0 rjmp .L3924317 222a F095 com r314318 222c E195 neg r304319 222e FF4F sbci r31,lo8(-1)4320 .L392:4321 2230 E734 cpi r30,714322 2232 F105 cpc r31,__zero_reg__4323 2234 04F4 brge .+24324 2236 00C0 rjmp .L3904325 .L391:4326 2238 41E0 ldi r20,lo8(1)4327 223a 2091 0000 lds r18,EE_Parameter+24328 223e A22F mov r26,r184329 2240 BB27 clr r274330 2242 AA0F add r26,r264331 2244 BB1F adc r27,r274332 2246 A050 subi r26,lo8(-(PPM_in))4333 2248 B040 sbci r27,hi8(-(PPM_in))4334 224a 8D91 ld r24,X+4335 224c 9C91 ld r25,X4336 224e 1197 sbiw r26,14337 2250 8734 cpi r24,714338 2252 9105 cpc r25,__zero_reg__4339 2254 04F0 brlt .L3934340 2256 E32F mov r30,r194341 2258 FF27 clr r314342 225a EE0F add r30,r304343 225c FF1F adc r31,r314344 225e E050 subi r30,lo8(-(PPM_in))4345 2260 F040 sbci r31,hi8(-(PPM_in))4346 2262 8081 ld r24,Z4347 2264 9181 ldd r25,Z+14348 .L393:4349 2266 8D91 ld r24,X+4350 2268 9C91 ld r25,X4351 226a 8734 cpi r24,714352 226c 9105 cpc r25,__zero_reg__4353 226e 04F0 brlt .L3944354 2270 8091 0000 lds r24,EE_Parameter+14355 2274 E82F mov r30,r244356 2276 FF27 clr r314357 2278 EE0F add r30,r304358 227a FF1F adc r31,r314359 227c E050 subi r30,lo8(-(PPM_in))4360 227e F040 sbci r31,hi8(-(PPM_in))4361 2280 8081 ld r24,Z4362 2282 9181 ldd r25,Z+14363 2284 8734 cpi r24,714364 2286 9105 cpc r25,__zero_reg__4365 2288 04F0 brlt .L3944366 228a 42E0 ldi r20,lo8(2)4367 .L394:4368 228c E22F mov r30,r184369 228e FF27 clr r314370 2290 EE0F add r30,r304371 2292 FF1F adc r31,r314372 2294 E050 subi r30,lo8(-(PPM_in))4373 2296 F040 sbci r31,hi8(-(PPM_in))4374 2298 8081 ld r24,Z4375 229a 9181 ldd r25,Z+14376 229c 8634 cpi r24,704377 229e 9105 cpc r25,__zero_reg__4378 22a0 04F4 brge .L3954379 22a2 8091 0000 lds r24,EE_Parameter+14380 22a6 E82F mov r30,r244381 22a8 FF27 clr r314382 22aa EE0F add r30,r304383 22ac FF1F adc r31,r314384 22ae E050 subi r30,lo8(-(PPM_in))4385 22b0 F040 sbci r31,hi8(-(PPM_in))4386 22b2 8081 ld r24,Z4387 22b4 9181 ldd r25,Z+14388 22b6 8734 cpi r24,714389 22b8 9105 cpc r25,__zero_reg__4390 22ba 04F0 brlt .L3954391 22bc 43E0 ldi r20,lo8(3)4392 .L395:4393 22be E22F mov r30,r184394 22c0 FF27 clr r314395 22c2 EE0F add r30,r304396 22c4 FF1F adc r31,r314397 22c6 E050 subi r30,lo8(-(PPM_in))4398 22c8 F040 sbci r31,hi8(-(PPM_in))4399 22ca 8081 ld r24,Z4400 22cc 9181 ldd r25,Z+14401 22ce 8A5B subi r24,lo8(-70)4402 22d0 9F4F sbci r25,hi8(-70)4403 22d2 04F4 brge .L3964404 22d4 8091 0000 lds r24,EE_Parameter+14405 22d8 E82F mov r30,r244406 22da FF27 clr r314407 22dc EE0F add r30,r304408 22de FF1F adc r31,r314409 22e0 E050 subi r30,lo8(-(PPM_in))4410 22e2 F040 sbci r31,hi8(-(PPM_in))4411 22e4 8081 ld r24,Z4412 22e6 9181 ldd r25,Z+14413 22e8 8734 cpi r24,714414 22ea 9105 cpc r25,__zero_reg__4415 22ec 04F0 brlt .L3964416 22ee 44E0 ldi r20,lo8(4)4417 .L396:4418 22f0 E22F mov r30,r184419 22f2 FF27 clr r314420 22f4 EE0F add r30,r304421 22f6 FF1F adc r31,r314422 22f8 E050 subi r30,lo8(-(PPM_in))4423 22fa F040 sbci r31,hi8(-(PPM_in))4424 22fc 8081 ld r24,Z4425 22fe 9181 ldd r25,Z+14426 2300 8A5B subi r24,lo8(-70)4427 2302 9F4F sbci r25,hi8(-70)4428 2304 04F4 brge .L3974429 2306 8091 0000 lds r24,EE_Parameter+14430 230a E82F mov r30,r244431 230c FF27 clr r314432 230e EE0F add r30,r304433 2310 FF1F adc r31,r314434 2312 E050 subi r30,lo8(-(PPM_in))4435 2314 F040 sbci r31,hi8(-(PPM_in))4436 2316 8081 ld r24,Z4437 2318 9181 ldd r25,Z+14438 231a 8634 cpi r24,704439 231c 9105 cpc r25,__zero_reg__4440 231e 04F4 brge .L3974441 2320 45E0 ldi r20,lo8(5)4442 .L397:4443 2322 842F mov r24,r204444 2324 0E94 0000 call SetActiveParamSet4445 .L390:4446 2328 8091 0000 lds r24,EE_Parameter+24447 232c E82F mov r30,r244448 232e FF27 clr r314449 2330 EE0F add r30,r304450 2332 FF1F adc r31,r314451 2334 E050 subi r30,lo8(-(PPM_in))4452 2336 F040 sbci r31,hi8(-(PPM_in))4453 2338 8081 ld r24,Z4454 233a 9181 ldd r25,Z+14455 233c 0190 ld __tmp_reg__,Z+4456 233e F081 ld r31,Z4457 2340 E02D mov r30,__tmp_reg__4458 2342 F7FF sbrs r31,74459 2344 00C0 rjmp .L3994460 2346 F095 com r314461 2348 E195 neg r304462 234a FF4F sbci r31,lo8(-1)4463 .L399:4464 234c 7E97 sbiw r30,304465 234e 04F4 brge .L3984466 2350 8091 0000 lds r24,EE_Parameter+14467 2354 E82F mov r30,r244468 2356 FF27 clr r314469 2358 EE0F add r30,r304470 235a FF1F adc r31,r314471 235c E050 subi r30,lo8(-(PPM_in))4472 235e F040 sbci r31,hi8(-(PPM_in))4473 2360 8081 ld r24,Z4474 2362 9181 ldd r25,Z+14475 2364 8A5B subi r24,lo8(-70)4476 2366 9F4F sbci r25,hi8(-70)4477 2368 04F4 brge .L3984478 236a 81E0 ldi r24,lo8(1)4479 236c 8093 0000 sts WinkelOut+6,r244480 2370 1092 0000 sts CalibrationDone,__zero_reg__4481 2374 88EE ldi r24,lo8(1000)4482 2376 93E0 ldi r25,hi8(1000)4483 2378 9093 0000 sts (beeptime)+1,r254484 237c 8093 0000 sts beeptime,r244485 2380 00C0 rjmp .L3874486 .L398:4487 2382 0E94 0000 call GetActiveParamSet4488 2386 0E94 0000 call ParamSet_ReadFromEEProm4489 238a 80E0 ldi r24,lo8(0)4490 238c 0E94 0000 call LipoDetection4491 2390 8091 0000 lds r24,EE_Parameter+394492 2394 0E94 0000 call LIBFC_ReceiverInit4493 2398 8091 0000 lds r24,Parameter_GlobalConfig4494 239c 80FF sbrs r24,04495 239e 00C0 rjmp .L4014496 23a0 8091 0000 lds r24,MessLuftdruck4497 23a4 9091 0000 lds r25,(MessLuftdruck)+14498 23a8 875B subi r24,lo8(951)4499 23aa 9340 sbci r25,hi8(951)4500 23ac 00F4 brsh .L4034501 23ae 8091 0000 lds r24,MessLuftdruck4502 23b2 9091 0000 lds r25,(MessLuftdruck)+14503 23b6 8E5E subi r24,lo8(750)4504 23b8 9240 sbci r25,hi8(750)4505 23ba 00F4 brsh .L4014506 .L403:4507 23bc 0E94 0000 call SucheLuftruckOffset4508 .L401:4509 23c0 80E0 ldi r24,lo8(0)4510 23c2 0E94 0000 call SetNeutral4511 23c6 81E0 ldi r24,lo8(1)4512 23c8 8093 0000 sts CalibrationDone,r244513 23cc 8093 0000 sts ServoActive,r244514 23d0 579A sbi 42-0x20,74515 23d2 00C0 rjmp .L8884516 .L388:4517 23d4 8081 ld r24,Z4518 23d6 9181 ldd r25,Z+14519 23d8 855B subi r24,lo8(-75)4520 23da 9F4F sbci r25,hi8(-75)4521 23dc 04F4 brge .L4054522 23de 8091 0000 lds r24,delay_neutral.64523 23e2 8F5F subi r24,lo8(-(1))4524 23e4 8093 0000 sts delay_neutral.6,r244525 23e8 893C cpi r24,lo8(-55)4526 23ea 00F0 brlo .L3874527 23ec 2093 0000 sts MotorenEin,r184528 23f0 2093 0000 sts delay_neutral.6,r184529 23f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__4530 23f8 1092 0000 sts modell_fliegt,__zero_reg__4531 23fc 81E0 ldi r24,lo8(1)4532 23fe 0E94 0000 call SetNeutral4533 2402 81E0 ldi r24,lo8(1)4534 2404 8093 0000 sts CalibrationDone,r244535 .L888:4536 2408 88E1 ldi r24,lo8(24)4537 240a 8093 0000 sts SpeakHoTT,r244538 240e 0E94 0000 call GetActiveParamSet4539 2412 68E7 ldi r22,lo8(120)4540 2414 70E0 ldi r23,hi8(120)4541 2416 0E94 0000 call Piep4542 241a 00C0 rjmp .L3874543 .L405:4544 241c 2093 0000 sts delay_neutral.6,r184545 .L387:4546 2420 8091 0000 lds r24,EE_Parameter+34547 2424 E82F mov r30,r244548 2426 FF27 clr r314549 2428 EE0F add r30,r304550 242a FF1F adc r31,r314551 242c E050 subi r30,lo8(-(PPM_in))4552 242e F040 sbci r31,hi8(-(PPM_in))4553 2430 8081 ld r24,Z4554 2432 9181 ldd r25,Z+14555 2434 8B5A subi r24,lo8(-85)4556 2436 9F4F sbci r25,hi8(-85)4557 2438 04F0 brlt .+24558 243a 00C0 rjmp .L4084559 243c 2091 0000 lds r18,EE_Parameter+1004560 2440 E22F mov r30,r184561 2442 FF27 clr r314562 2444 EF77 andi r30,lo8(127)4563 2446 F070 andi r31,hi8(127)4564 2448 EE0F add r30,r304565 244a FF1F adc r31,r314566 244c E050 subi r30,lo8(-(PPM_diff))4567 244e F040 sbci r31,hi8(-(PPM_diff))4568 2450 8081 ld r24,Z4569 2452 9181 ldd r25,Z+14570 2454 0697 sbiw r24,64571 2456 04F0 brlt .L4094572 2458 84E6 ldi r24,lo8(100)4573 245a 00C0 rjmp .L8894574 .L409:4575 245c 8081 ld r24,Z4576 245e 9181 ldd r25,Z+14577 2460 8B5F subi r24,lo8(-5)4578 2462 9F4F sbci r25,hi8(-5)4579 2464 04F4 brge .L4104580 2466 8CE9 ldi r24,lo8(-100)4581 .L889:4582 2468 8093 0000 sts move_safety_switch.9,r244583 .L410:4584 246c 8091 0000 lds r24,MotorenEin4585 2470 E091 0000 lds r30,EE_Parameter+44586 2474 8823 tst r244587 2476 01F0 breq .+24588 2478 00C0 rjmp .L4124589 247a FF27 clr r314590 247c EE0F add r30,r304591 247e FF1F adc r31,r314592 2480 E050 subi r30,lo8(-(PPM_in))4593 2482 F040 sbci r31,hi8(-(PPM_in))4594 2484 8081 ld r24,Z4595 2486 9181 ldd r25,Z+14596 2488 855B subi r24,lo8(-75)4597 248a 9F4F sbci r25,hi8(-75)4598 248c 04F4 brge .L4154599 248e 8091 0000 lds r24,EE_Parameter+1114600 2492 83FD sbrc r24,34601 2494 00C0 rjmp .L4164602 2496 E22F mov r30,r184603 2498 FF27 clr r314604 249a EE0F add r30,r304605 249c FF1F adc r31,r314606 249e E050 subi r30,lo8(-(PPM_in))4607 24a0 F040 sbci r31,hi8(-(PPM_in))4608 24a2 8081 ld r24,Z4609 24a4 9181 ldd r25,Z+14610 24a6 855B subi r24,lo8(-75)4611 24a8 9F4F sbci r25,hi8(-75)4612 24aa 04F0 brlt .L4144613 .L416:4614 24ac 8091 0000 lds r24,EE_Parameter+1004615 24b0 8823 tst r244616 24b2 01F0 breq .L4144617 .L415:4618 24b4 8091 0000 lds r24,EE_Parameter+1114619 24b8 83FF sbrs r24,34620 24ba 00C0 rjmp .L4134621 24bc 8091 0000 lds r24,EE_Parameter+1004622 24c0 E82F mov r30,r244623 24c2 FF27 clr r314624 24c4 EE0F add r30,r304625 24c6 FF1F adc r31,r314626 24c8 E050 subi r30,lo8(-(PPM_in))4627 24ca F040 sbci r31,hi8(-(PPM_in))4628 24cc 8081 ld r24,Z4629 24ce 9181 ldd r25,Z+14630 24d0 875F subi r24,lo8(-9)4631 24d2 9F4F sbci r25,hi8(-9)4632 24d4 04F4 brge .+24633 24d6 00C0 rjmp .L4134634 24d8 8091 0000 lds r24,move_safety_switch.94635 24dc 8436 cpi r24,lo8(100)4636 24de 01F0 breq .+24637 24e0 00C0 rjmp .L4134638 .L414:4639 24e2 2091 0000 lds r18,CalibrationDone4640 24e6 2223 tst r184641 24e8 01F0 breq .L4174642 24ea 8091 0000 lds r24,FC_StatusFlags4643 24ee 8860 ori r24,lo8(8)4644 24f0 8093 0000 sts FC_StatusFlags,r244645 .L417:4646 24f4 8091 0000 lds r24,delay_einschalten.74647 24f8 8F5F subi r24,lo8(-(1))4648 24fa 8093 0000 sts delay_einschalten.7,r244649 24fe 8E3F cpi r24,lo8(-2)4650 2500 00F4 brsh .+24651 2502 00C0 rjmp .L4234652 2504 1092 0000 sts delay_einschalten.7,__zero_reg__4653 2508 8091 0000 lds r24,VersionInfo+54654 250c 8823 tst r244655 250e 01F0 breq .+24656 2510 00C0 rjmp .L4194657 2512 2223 tst r184658 2514 01F4 brne .+24659 2516 00C0 rjmp .L4194660 2518 8091 0000 lds r24,NC_ErrorCode4661 251c 8823 tst r244662 251e 01F0 breq .+24663 2520 00C0 rjmp .L4194664 2522 81E0 ldi r24,lo8(1)4665 2524 90E0 ldi r25,hi8(1)4666 2526 9093 0000 sts (modell_fliegt)+1,r254667 252a 8093 0000 sts modell_fliegt,r244668 252e 81E0 ldi r24,lo8(1)4669 2530 8093 0000 sts MotorenEin,r244670 2534 1092 0000 sts sollGier.0,__zero_reg__4671 2538 1092 0000 sts (sollGier.0)+1,__zero_reg__4672 253c 1092 0000 sts (sollGier.0)+2,__zero_reg__4673 2540 1092 0000 sts (sollGier.0)+3,__zero_reg__4674 2544 1092 0000 sts Mess_Integral_Gier,__zero_reg__4675 2548 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4676 254c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4677 2550 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4678 2554 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4679 2558 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4680 255c 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4681 2560 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4682 2564 8091 0000 lds r24,EE_Parameter+284683 2568 E82E mov r14,r244684 256a FF24 clr r154685 256c 0027 clr r164686 256e 1127 clr r174687 2570 8091 0000 lds r24,Mittelwert_AccNick4688 2574 9091 0000 lds r25,(Mittelwert_AccNick)+14689 2578 9C01 movw r18,r244690 257a 4427 clr r204691 257c 37FD sbrc r19,74692 257e 4095 com r204693 2580 542F mov r21,r204694 2582 C801 movw r24,r164695 2584 B701 movw r22,r144696 2586 0E94 0000 call __mulsi34697 258a DC01 movw r26,r244698 258c CB01 movw r24,r224699 258e 8093 0000 sts Mess_IntegralNick,r244700 2592 9093 0000 sts (Mess_IntegralNick)+1,r254701 2596 A093 0000 sts (Mess_IntegralNick)+2,r264702 259a B093 0000 sts (Mess_IntegralNick)+3,r274703 259e 8091 0000 lds r24,Mittelwert_AccRoll4704 25a2 9091 0000 lds r25,(Mittelwert_AccRoll)+14705 25a6 9C01 movw r18,r244706 25a8 4427 clr r204707 25aa 37FD sbrc r19,74708 25ac 4095 com r204709 25ae 542F mov r21,r204710 25b0 C801 movw r24,r164711 25b2 B701 movw r22,r144712 25b4 0E94 0000 call __mulsi34713 25b8 DC01 movw r26,r244714 25ba CB01 movw r24,r224715 25bc 8093 0000 sts Mess_IntegralRoll,r244716 25c0 9093 0000 sts (Mess_IntegralRoll)+1,r254717 25c4 A093 0000 sts (Mess_IntegralRoll)+2,r264718 25c8 B093 0000 sts (Mess_IntegralRoll)+3,r274719 25cc 8091 0000 lds r24,IntegralNick4720 25d0 9091 0000 lds r25,(IntegralNick)+14721 25d4 A091 0000 lds r26,(IntegralNick)+24722 25d8 B091 0000 lds r27,(IntegralNick)+34723 25dc 8093 0000 sts Mess_IntegralNick2,r244724 25e0 9093 0000 sts (Mess_IntegralNick2)+1,r254725 25e4 A093 0000 sts (Mess_IntegralNick2)+2,r264726 25e8 B093 0000 sts (Mess_IntegralNick2)+3,r274727 25ec 8091 0000 lds r24,IntegralRoll4728 25f0 9091 0000 lds r25,(IntegralRoll)+14729 25f4 A091 0000 lds r26,(IntegralRoll)+24730 25f8 B091 0000 lds r27,(IntegralRoll)+34731 25fc 8093 0000 sts Mess_IntegralRoll2,r244732 2600 9093 0000 sts (Mess_IntegralRoll2)+1,r254733 2604 A093 0000 sts (Mess_IntegralRoll2)+2,r264734 2608 B093 0000 sts (Mess_IntegralRoll2)+3,r274735 260c 1092 0000 sts SummeNick,__zero_reg__4736 2610 1092 0000 sts (SummeNick)+1,__zero_reg__4737 2614 1092 0000 sts (SummeNick)+2,__zero_reg__4738 2618 1092 0000 sts (SummeNick)+3,__zero_reg__4739 261c 1092 0000 sts SummeRoll,__zero_reg__4740 2620 1092 0000 sts (SummeRoll)+1,__zero_reg__4741 2624 1092 0000 sts (SummeRoll)+2,__zero_reg__4742 2628 1092 0000 sts (SummeRoll)+3,__zero_reg__4743 262c 84E6 ldi r24,lo8(100)4744 262e 8093 0000 sts NeueKompassRichtungMerken,r244745 2632 84E3 ldi r24,lo8(52)4746 2634 00C0 rjmp .L8904747 .L419:4748 2636 8CED ldi r24,lo8(1500)4749 2638 95E0 ldi r25,hi8(1500)4750 263a 9093 0000 sts (beeptime)+1,r254751 263e 8093 0000 sts beeptime,r244752 2642 2223 tst r184753 2644 01F0 breq .+24754 2646 00C0 rjmp .L4234755 2648 81E0 ldi r24,lo8(1)4756 264a 00C0 rjmp .L8904757 .L413:4758 264c 1092 0000 sts delay_einschalten.7,__zero_reg__4759 2650 00C0 rjmp .L4234760 .L412:4761 2652 FF27 clr r314762 2654 EE0F add r30,r304763 2656 FF1F adc r31,r314764 2658 E050 subi r30,lo8(-(PPM_in))4765 265a F040 sbci r31,hi8(-(PPM_in))4766 265c 8081 ld r24,Z4767 265e 9181 ldd r25,Z+14768 2660 8C34 cpi r24,764769 2662 9105 cpc r25,__zero_reg__4770 2664 04F0 brlt .L4264771 2666 8091 0000 lds r24,EE_Parameter+1114772 266a 83FD sbrc r24,34773 266c 00C0 rjmp .L4274774 266e E22F mov r30,r184775 2670 FF27 clr r314776 2672 EE0F add r30,r304777 2674 FF1F adc r31,r314778 2676 E050 subi r30,lo8(-(PPM_in))4779 2678 F040 sbci r31,hi8(-(PPM_in))4780 267a 8081 ld r24,Z4781 267c 9181 ldd r25,Z+14782 267e 855B subi r24,lo8(-75)4783 2680 9F4F sbci r25,hi8(-75)4784 2682 04F0 brlt .L4254785 .L427:4786 2684 8091 0000 lds r24,EE_Parameter+1004787 2688 8823 tst r244788 268a 01F0 breq .L4254789 .L426:4790 268c 8091 0000 lds r24,EE_Parameter+1114791 2690 83FF sbrs r24,34792 2692 00C0 rjmp .L4244793 2694 8091 0000 lds r24,EE_Parameter+1004794 2698 E82F mov r30,r244795 269a FF27 clr r314796 269c EE0F add r30,r304797 269e FF1F adc r31,r314798 26a0 E050 subi r30,lo8(-(PPM_in))4799 26a2 F040 sbci r31,hi8(-(PPM_in))4800 26a4 8081 ld r24,Z4801 26a6 9181 ldd r25,Z+14802 26a8 8E5C subi r24,lo8(-50)4803 26aa 9F4F sbci r25,hi8(-50)4804 26ac 04F4 brge .L4244805 26ae 8091 0000 lds r24,move_safety_switch.94806 26b2 8C39 cpi r24,lo8(-100)4807 26b4 01F4 brne .L4244808 .L425:4809 26b6 8091 0000 lds r24,delay_ausschalten.84810 26ba 8F5F subi r24,lo8(-(1))4811 26bc 8093 0000 sts delay_ausschalten.8,r244812 26c0 8B3F cpi r24,lo8(-5)4813 26c2 00F0 brlo .L4234814 26c4 1092 0000 sts MotorenEin,__zero_reg__4815 26c8 1092 0000 sts delay_ausschalten.8,__zero_reg__4816 26cc 1092 0000 sts (modell_fliegt)+1,__zero_reg__4817 26d0 1092 0000 sts modell_fliegt,__zero_reg__4818 26d4 86E2 ldi r24,lo8(38)4819 .L890:4820 26d6 8093 0000 sts SpeakHoTT,r244821 26da 00C0 rjmp .L4234822 .L424:4823 26dc 1092 0000 sts delay_ausschalten.8,__zero_reg__4824 .L423:4825 26e0 8091 0000 lds r24,GasIsZeroCnt4826 26e4 9091 0000 lds r25,(GasIsZeroCnt)+14827 26e8 13E0 ldi r17,hi8(1000)4828 26ea 883E cpi r24,lo8(1000)4829 26ec 9107 cpc r25,r174830 26ee 00F4 brsh .L3814831 26f0 0196 adiw r24,14832 26f2 9093 0000 sts (GasIsZeroCnt)+1,r254833 26f6 8093 0000 sts GasIsZeroCnt,r244834 26fa 00C0 rjmp .L3814835 .L408:4836 26fc 1092 0000 sts move_safety_switch.9,__zero_reg__4837 2700 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4838 2704 1092 0000 sts GasIsZeroCnt,__zero_reg__4839 2708 00C0 rjmp .L3814840 .L382:4841 270a 2E5E subi r18,lo8(750)4842 270c 3240 sbci r19,hi8(750)4843 270e 00F0 brlo .L3814844 2710 8091 0000 lds r24,GPSInfo+44845 2714 9091 0000 lds r25,(GPSInfo+4)+14846 2718 8059 subi r24,lo8(400)4847 271a 9140 sbci r25,hi8(400)4848 271c 00F4 brsh .L3814849 271e 8091 0000 lds r24,HoehenWert4850 2722 9091 0000 lds r25,(HoehenWert)+14851 2726 A091 0000 lds r26,(HoehenWert)+24852 272a B091 0000 lds r27,(HoehenWert)+34853 272e 8C5D subi r24,lo8(1500)4854 2730 9540 sbci r25,hi8(1500)4855 2732 A040 sbci r26,hlo8(1500)4856 2734 B040 sbci r27,hhi8(1500)4857 2736 04F4 brge .L3814858 2738 80E3 ldi r24,lo8(30000)4859 273a 95E7 ldi r25,hi8(30000)4860 273c 9093 0000 sts (GasIsZeroCnt)+1,r254861 2740 8093 0000 sts GasIsZeroCnt,r244862 2744 8091 0000 lds r24,modell_fliegt4863 2748 9091 0000 lds r25,(modell_fliegt)+14864 274c 8A5E subi r24,lo8(1002)4865 274e 9340 sbci r25,hi8(1002)4866 2750 00F0 brlo .L3814867 2752 89EE ldi r24,lo8(1001)4868 2754 93E0 ldi r25,hi8(1001)4869 2756 9093 0000 sts (modell_fliegt)+1,r254870 275a 8093 0000 sts modell_fliegt,r244871 .L381:4872 275e 8091 0000 lds r24,NewPpmData4873 2762 8150 subi r24,lo8(-(-1))4874 2764 8093 0000 sts NewPpmData,r244875 2768 8091 0000 lds r24,NewPpmData4876 276c 8F3F cpi r24,lo8(-1)4877 276e 01F0 breq .L4374878 2770 8091 0000 lds r24,FC_StatusFlags4879 2774 84FF sbrs r24,44880 2776 00C0 rjmp .L4364881 .L437:4882 2778 0E94 0000 call ParameterZuordnung4883 277c B090 0000 lds r11,EE_Parameter+234884 2780 8091 0000 lds r24,stick_nick.124885 2784 9091 0000 lds r25,(stick_nick.12)+14886 2788 9C01 movw r18,r244887 278a 220F lsl r184888 278c 331F rol r194889 278e 280F add r18,r244890 2790 391F adc r19,r254891 2792 C090 0000 lds r12,EE_Parameter+14892 2796 AC2D mov r26,r124893 2798 BB27 clr r274894 279a AA0F add r26,r264895 279c BB1F adc r27,r274896 279e FD01 movw r30,r264897 27a0 E050 subi r30,lo8(-(PPM_in))4898 27a2 F040 sbci r31,hi8(-(PPM_in))4899 27a4 4B2D mov r20,r114900 27a6 5527 clr r214901 27a8 8081 ld r24,Z4902 27aa 9181 ldd r25,Z+14903 27ac 849F mul r24,r204904 27ae F001 movw r30,r04905 27b0 859F mul r24,r214906 27b2 F00D add r31,r04907 27b4 949F mul r25,r204908 27b6 F00D add r31,r04909 27b8 1124 clr r14910 27ba 2E0F add r18,r304911 27bc 3F1F adc r19,r314912 27be 37FF sbrs r19,74913 27c0 00C0 rjmp .L4384914 27c2 2D5F subi r18,lo8(-(3))4915 27c4 3F4F sbci r19,hi8(-(3))4916 .L438:4917 27c6 B901 movw r22,r184918 27c8 7595 asr r234919 27ca 6795 ror r224920 27cc 7595 asr r234921 27ce 6795 ror r224922 27d0 A050 subi r26,lo8(-(PPM_diff))4923 27d2 B040 sbci r27,hi8(-(PPM_diff))4924 27d4 8091 0000 lds r24,EE_Parameter+244925 27d8 082F mov r16,r244926 27da 1127 clr r174927 27dc 8D91 ld r24,X+4928 27de 9C91 ld r25,X4929 27e0 809F mul r24,r164930 27e2 7001 movw r14,r04931 27e4 819F mul r24,r174932 27e6 F00C add r15,r04933 27e8 909F mul r25,r164934 27ea F00C add r15,r04935 27ec 1124 clr r14936 27ee 6E0D add r22,r144937 27f0 7F1D adc r23,r154938 27f2 7093 0000 sts (stick_nick.12)+1,r234939 27f6 6093 0000 sts stick_nick.12,r224940 27fa 8091 0000 lds r24,stick_roll.134941 27fe 9091 0000 lds r25,(stick_roll.13)+14942 2802 9C01 movw r18,r244943 2804 220F lsl r184944 2806 331F rol r194945 2808 280F add r18,r244946 280a 391F adc r19,r254947 280c D090 0000 lds r13,EE_Parameter+24948 2810 AD2D mov r26,r134949 2812 BB27 clr r274950 2814 AA0F add r26,r264951 2816 BB1F adc r27,r274952 2818 FD01 movw r30,r264953 281a E050 subi r30,lo8(-(PPM_in))4954 281c F040 sbci r31,hi8(-(PPM_in))4955 281e 8081 ld r24,Z4956 2820 9181 ldd r25,Z+14957 2822 849F mul r24,r204958 2824 F001 movw r30,r04959 2826 859F mul r24,r214960 2828 F00D add r31,r04961 282a 949F mul r25,r204962 282c F00D add r31,r04963 282e 1124 clr r14964 2830 2E0F add r18,r304965 2832 3F1F adc r19,r314966 2834 37FF sbrs r19,74967 2836 00C0 rjmp .L4394968 2838 2D5F subi r18,lo8(-(3))4969 283a 3F4F sbci r19,hi8(-(3))4970 .L439:4971 283c A901 movw r20,r184972 283e 5595 asr r214973 2840 4795 ror r204974 2842 5595 asr r214975 2844 4795 ror r204976 2846 A050 subi r26,lo8(-(PPM_diff))4977 2848 B040 sbci r27,hi8(-(PPM_diff))4978 284a 8D91 ld r24,X+4979 284c 9C91 ld r25,X4980 284e 809F mul r24,r164981 2850 7001 movw r14,r04982 2852 819F mul r24,r174983 2854 F00C add r15,r04984 2856 909F mul r25,r164985 2858 F00C add r15,r04986 285a 1124 clr r14987 285c 4E0D add r20,r144988 285e 5F1D adc r21,r154989 2860 5093 0000 sts (stick_roll.13)+1,r214990 2864 4093 0000 sts stick_roll.13,r204991 2868 8091 0000 lds r24,CareFree4992 286c 8823 tst r244993 286e 01F4 brne .+24994 2870 00C0 rjmp .L4404995 2872 CB01 movw r24,r224996 2874 77FD sbrc r23,74997 2876 0396 adiw r24,34998 .L441:4999 2878 DC01 movw r26,r245000 287a B595 asr r275001 287c A795 ror r265002 287e B595 asr r275003 2880 A795 ror r265004 2882 CA01 movw r24,r205005 2884 57FD sbrc r21,75006 2886 0396 adiw r24,35007 .L442:5008 2888 FC01 movw r30,r245009 288a F595 asr r315010 288c E795 ror r305011 288e F595 asr r315012 2890 E795 ror r305013 2892 8091 0000 lds r24,FromNC_Rotate_C5014 2896 682F mov r22,r245015 2898 7727 clr r235016 289a 67FD sbrc r22,75017 289c 7095 com r235018 289e 6A9F mul r22,r265019 28a0 9001 movw r18,r05020 28a2 6B9F mul r22,r275021 28a4 300D add r19,r05022 28a6 7A9F mul r23,r265023 28a8 300D add r19,r05024 28aa 1124 clr r15025 28ac 8091 0000 lds r24,FromNC_Rotate_S5026 28b0 482F mov r20,r245027 28b2 5527 clr r215028 28b4 47FD sbrc r20,75029 28b6 5095 com r215030 28b8 4E9F mul r20,r305031 28ba C001 movw r24,r05032 28bc 4F9F mul r20,r315033 28be 900D add r25,r05034 28c0 5E9F mul r21,r305035 28c2 900D add r25,r05036 28c4 1124 clr r15037 28c6 280F add r18,r245038 28c8 391F adc r19,r255039 28ca 37FF sbrs r19,75040 28cc 00C0 rjmp .L4435041 28ce 295F subi r18,lo8(-(7))5042 28d0 3F4F sbci r19,hi8(-(7))5043 .L443:5044 28d2 93E0 ldi r25,35045 28d4 3595 1: asr r195046 28d6 2795 ror r185047 28d8 9A95 dec r255048 28da 01F4 brne 1b5049 28dc 3093 0000 sts (StickNick)+1,r195050 28e0 2093 0000 sts StickNick,r185051 28e4 6E9F mul r22,r305052 28e6 9001 movw r18,r05053 28e8 6F9F mul r22,r315054 28ea 300D add r19,r05055 28ec 7E9F mul r23,r305056 28ee 300D add r19,r05057 28f0 1124 clr r15058 28f2 4A9F mul r20,r265059 28f4 C001 movw r24,r05060 28f6 4B9F mul r20,r275061 28f8 900D add r25,r05062 28fa 5A9F mul r21,r265063 28fc 900D add r25,r05064 28fe 1124 clr r15065 2900 00C0 rjmp .L9195066 .L440:5067 2902 8091 0000 lds r24,EE_Parameter+985068 2906 E82F mov r30,r245069 2908 FF27 clr r315070 290a E050 subi r30,lo8(-(sintab))5071 290c F040 sbci r31,hi8(-(sintab))5072 290e 8681 ldd r24,Z+65073 2910 8093 0000 sts FromNC_Rotate_C,r245074 2914 9081 ld r25,Z5075 2916 9093 0000 sts FromNC_Rotate_S,r255076 291a A82F mov r26,r245077 291c BB27 clr r275078 291e A7FD sbrc r26,75079 2920 B095 com r275080 2922 A69F mul r26,r225081 2924 9001 movw r18,r05082 2926 A79F mul r26,r235083 2928 300D add r19,r05084 292a B69F mul r27,r225085 292c 300D add r19,r05086 292e 1124 clr r15087 2930 E92F mov r30,r255088 2932 FF27 clr r315089 2934 E7FD sbrc r30,75090 2936 F095 com r315091 2938 E49F mul r30,r205092 293a C001 movw r24,r05093 293c E59F mul r30,r215094 293e 900D add r25,r05095 2940 F49F mul r31,r205096 2942 900D add r25,r05097 2944 1124 clr r15098 2946 280F add r18,r245099 2948 391F adc r19,r255100 294a 37FF sbrs r19,75101 294c 00C0 rjmp .L4465102 294e 295F subi r18,lo8(-(7))5103 2950 3F4F sbci r19,hi8(-(7))5104 .L446:5105 2952 83E0 ldi r24,35106 2954 3595 1: asr r195107 2956 2795 ror r185108 2958 8A95 dec r245109 295a 01F4 brne 1b5110 295c 3093 0000 sts (StickNick)+1,r195111 2960 2093 0000 sts StickNick,r185112 2964 A49F mul r26,r205113 2966 9001 movw r18,r05114 2968 A59F mul r26,r215115 296a 300D add r19,r05116 296c B49F mul r27,r205117 296e 300D add r19,r05118 2970 1124 clr r15119 2972 E69F mul r30,r225120 2974 C001 movw r24,r05121 2976 E79F mul r30,r235122 2978 900D add r25,r05123 297a F69F mul r31,r225124 297c 900D add r25,r05125 297e 1124 clr r15126 .L919:5127 2980 281B sub r18,r245128 2982 390B sbc r19,r255129 2984 37FF sbrs r19,75130 2986 00C0 rjmp .L4475131 2988 295F subi r18,lo8(-(7))5132 298a 3F4F sbci r19,hi8(-(7))5133 .L447:5134 298c 03E0 ldi r16,35135 298e 3595 1: asr r195136 2990 2795 ror r185137 2992 0A95 dec r165138 2994 01F4 brne 1b5139 2996 3093 0000 sts (StickRoll)+1,r195140 299a 2093 0000 sts StickRoll,r185141 299e 8091 0000 lds r24,EE_Parameter+45142 29a2 E82F mov r30,r245143 29a4 FF27 clr r315144 29a6 EE0F add r30,r305145 29a8 FF1F adc r31,r315146 29aa E050 subi r30,lo8(-(PPM_in))5147 29ac F040 sbci r31,hi8(-(PPM_in))5148 29ae 8081 ld r24,Z5149 29b0 9181 ldd r25,Z+15150 29b2 9095 com r255151 29b4 8195 neg r245152 29b6 9F4F sbci r25,lo8(-1)5153 29b8 9093 0000 sts (StickGier)+1,r255154 29bc 8093 0000 sts StickGier,r245155 29c0 8530 cpi r24,55156 29c2 9105 cpc r25,__zero_reg__5157 29c4 04F0 brlt .L4485158 29c6 0497 sbiw r24,45159 29c8 00C0 rjmp .L8915160 .L448:5161 29ca 0FEF ldi r16,hi8(-4)5162 29cc 8C3F cpi r24,lo8(-4)5163 29ce 9007 cpc r25,r165164 29d0 04F4 brge .L4505165 29d2 0496 adiw r24,45166 .L891:5167 29d4 9093 0000 sts (StickGier)+1,r255168 29d8 8093 0000 sts StickGier,r245169 29dc 00C0 rjmp .L4495170 .L450:5171 29de 1092 0000 sts (StickGier)+1,__zero_reg__5172 29e2 1092 0000 sts StickGier,__zero_reg__5173 .L449:5174 29e6 8091 0000 lds r24,GPS_Aid_StickMultiplikator5175 29ea 8823 tst r245176 29ec 01F4 brne .+25177 29ee 00C0 rjmp .L4525178 29f0 282F mov r18,r245179 29f2 3327 clr r195180 29f4 8091 0000 lds r24,StickNick5181 29f8 9091 0000 lds r25,(StickNick)+15182 29fc 97FD sbrc r25,75183 29fe 0796 adiw r24,75184 .L453:5185 2a00 13E0 ldi r17,35186 2a02 9595 1: asr r255187 2a04 8795 ror r245188 2a06 1A95 dec r175189 2a08 01F4 brne 1b5190 2a0a 289F mul r18,r245191 2a0c A001 movw r20,r05192 2a0e 299F mul r18,r255193 2a10 500D add r21,r05194 2a12 389F mul r19,r245195 2a14 500D add r21,r05196 2a16 1124 clr r15197 2a18 CA01 movw r24,r205198 2a1a 57FD sbrc r21,75199 2a1c 0F96 adiw r24,155200 .L454:5201 2a1e B4E0 ldi r27,45202 2a20 9595 1: asr r255203 2a22 8795 ror r245204 2a24 BA95 dec r275205 2a26 01F4 brne 1b5206 2a28 9093 0000 sts (StickNick)+1,r255207 2a2c 8093 0000 sts StickNick,r245208 2a30 8091 0000 lds r24,StickRoll5209 2a34 9091 0000 lds r25,(StickRoll)+15210 2a38 97FD sbrc r25,75211 2a3a 0796 adiw r24,75212 .L455:5213 2a3c A3E0 ldi r26,35214 2a3e 9595 1: asr r255215 2a40 8795 ror r245216 2a42 AA95 dec r265217 2a44 01F4 brne 1b5218 2a46 289F mul r18,r245219 2a48 B001 movw r22,r05220 2a4a 299F mul r18,r255221 2a4c 700D add r23,r05222 2a4e 389F mul r19,r245223 2a50 700D add r23,r05224 2a52 1124 clr r15225 2a54 CB01 movw r24,r225226 2a56 77FD sbrc r23,75227 2a58 0F96 adiw r24,155228 .L456:5229 2a5a F4E0 ldi r31,45230 2a5c 9595 1: asr r255231 2a5e 8795 ror r245232 2a60 FA95 dec r315233 2a62 01F4 brne 1b5234 2a64 9093 0000 sts (StickRoll)+1,r255235 2a68 8093 0000 sts StickRoll,r245236 .L452:5237 2a6c 8090 0000 lds r8,StickNick5238 2a70 9090 0000 lds r9,(StickNick)+15239 2a74 8091 0000 lds r24,GPS_Nick5240 2a78 9091 0000 lds r25,(GPS_Nick)+15241 2a7c 881A sub r8,r245242 2a7e 990A sbc r9,r255243 2a80 9092 0000 sts (StickNick)+1,r95244 2a84 8092 0000 sts StickNick,r85245 2a88 0091 0000 lds r16,StickRoll5246 2a8c 1091 0000 lds r17,(StickRoll)+15247 2a90 8091 0000 lds r24,GPS_Roll5248 2a94 9091 0000 lds r25,(GPS_Roll)+15249 2a98 081B sub r16,r245250 2a9a 190B sbc r17,r255251 2a9c 1093 0000 sts (StickRoll)+1,r175252 2aa0 0093 0000 sts StickRoll,r165253 2aa4 8091 0000 lds r24,EE_Parameter+35254 2aa8 E82F mov r30,r245255 2aaa FF27 clr r315256 2aac EE0F add r30,r305257 2aae FF1F adc r31,r315258 2ab0 E050 subi r30,lo8(-(PPM_in))5259 2ab2 F040 sbci r31,hi8(-(PPM_in))5260 2ab4 E080 ld r14,Z5261 2ab6 F180 ldd r15,Z+15262 2ab8 8FE7 ldi r24,lo8(127)5263 2aba 90E0 ldi r25,hi8(127)5264 2abc E80E add r14,r245265 2abe F91E adc r15,r255266 2ac0 F092 0000 sts (StickGas)+1,r155267 2ac4 E092 0000 sts StickGas,r145268 2ac8 8091 0000 lds r24,Parameter_Gyro_P5269 2acc 9927 clr r255270 2ace AA27 clr r265271 2ad0 97FD sbrc r25,75272 2ad2 A095 com r265273 2ad4 BA2F mov r27,r265274 2ad6 BC01 movw r22,r245275 2ad8 CD01 movw r24,r265276 2ada 0E94 0000 call __floatsisf5277 2ade DC01 movw r26,r245278 2ae0 CB01 movw r24,r225279 2ae2 20E0 ldi r18,lo8(0x41200000)5280 2ae4 30E0 ldi r19,hi8(0x41200000)5281 2ae6 40E2 ldi r20,hlo8(0x41200000)5282 2ae8 51E4 ldi r21,hhi8(0x41200000)5283 2aea BC01 movw r22,r245284 2aec CD01 movw r24,r265285 2aee 0E94 0000 call __addsf35286 2af2 DC01 movw r26,r245287 2af4 CB01 movw r24,r225288 2af6 BC01 movw r22,r245289 2af8 CD01 movw r24,r265290 2afa 0E94 0000 call __fixunssfsi5291 2afe DC01 movw r26,r245292 2b00 CB01 movw r24,r225293 2b02 8093 0000 sts GyroFaktor,r245294 2b06 8091 0000 lds r24,Parameter_Gyro_I5295 2b0a 8093 0000 sts IntegralFaktor,r245296 2b0e 8091 0000 lds r24,Parameter_Gyro_Gier_P5297 2b12 9927 clr r255298 2b14 AA27 clr r265299 2b16 97FD sbrc r25,75300 2b18 A095 com r265301 2b1a BA2F mov r27,r265302 2b1c BC01 movw r22,r245303 2b1e CD01 movw r24,r265304 2b20 0E94 0000 call __floatsisf5305 2b24 DC01 movw r26,r245306 2b26 CB01 movw r24,r225307 2b28 20E0 ldi r18,lo8(0x41200000)5308 2b2a 30E0 ldi r19,hi8(0x41200000)5309 2b2c 40E2 ldi r20,hlo8(0x41200000)5310 2b2e 51E4 ldi r21,hhi8(0x41200000)5311 2b30 BC01 movw r22,r245312 2b32 CD01 movw r24,r265313 2b34 0E94 0000 call __addsf35314 2b38 DC01 movw r26,r245315 2b3a CB01 movw r24,r225316 2b3c BC01 movw r22,r245317 2b3e CD01 movw r24,r265318 2b40 0E94 0000 call __fixunssfsi5319 2b44 DC01 movw r26,r245320 2b46 CB01 movw r24,r225321 2b48 8093 0000 sts GyroFaktorGier,r245322 2b4c 8091 0000 lds r24,Parameter_Gyro_Gier_I5323 2b50 8093 0000 sts IntegralFaktorGier,r245324 2b54 8091 0000 lds r24,ExternControl+105325 2b58 80FF sbrs r24,05326 2b5a 00C0 rjmp .L4575327 2b5c 8091 0000 lds r24,Parameter_ExternalControl5328 2b60 8138 cpi r24,lo8(-127)5329 2b62 00F4 brsh .+25330 2b64 00C0 rjmp .L4575331 2b66 8091 0000 lds r24,ExternControl+35332 2b6a 9927 clr r255333 2b6c 87FD sbrc r24,75334 2b6e 9095 com r255335 2b70 2B2D mov r18,r115336 2b72 3327 clr r195337 2b74 829F mul r24,r185338 2b76 D001 movw r26,r05339 2b78 839F mul r24,r195340 2b7a B00D add r27,r05341 2b7c 929F mul r25,r185342 2b7e B00D add r27,r05343 2b80 1124 clr r15344 2b82 8A0E add r8,r265345 2b84 9B1E adc r9,r275346 2b86 9092 0000 sts (StickNick)+1,r95347 2b8a 8092 0000 sts StickNick,r85348 2b8e 8091 0000 lds r24,ExternControl+45349 2b92 9927 clr r255350 2b94 87FD sbrc r24,75351 2b96 9095 com r255352 2b98 829F mul r24,r185353 2b9a F001 movw r30,r05354 2b9c 839F mul r24,r195355 2b9e F00D add r31,r05356 2ba0 929F mul r25,r185357 2ba2 F00D add r31,r05358 2ba4 1124 clr r15359 2ba6 0E0F add r16,r305360 2ba8 1F1F adc r17,r315361 2baa 1093 0000 sts (StickRoll)+1,r175362 2bae 0093 0000 sts StickRoll,r165363 2bb2 8091 0000 lds r24,ExternControl+55364 2bb6 282F mov r18,r245365 2bb8 3327 clr r195366 2bba 27FD sbrc r18,75367 2bbc 3095 com r195368 2bbe 8091 0000 lds r24,StickGier5369 2bc2 9091 0000 lds r25,(StickGier)+15370 2bc6 820F add r24,r185371 2bc8 931F adc r25,r195372 2bca 9093 0000 sts (StickGier)+1,r255373 2bce 8093 0000 sts StickGier,r245374 2bd2 8091 0000 lds r24,ExternControl+75375 2bd6 282F mov r18,r245376 2bd8 3327 clr r195377 2bda 27FD sbrc r18,75378 2bdc 3095 com r195379 2bde 8091 0000 lds r24,EE_Parameter+185380 2be2 9927 clr r255381 2be4 289F mul r18,r245382 2be6 8001 movw r16,r05383 2be8 299F mul r18,r255384 2bea 100D add r17,r05385 2bec 389F mul r19,r245386 2bee 100D add r17,r05387 2bf0 1124 clr r15388 2bf2 1093 0000 sts (ExternHoehenValue)+1,r175389 2bf6 0093 0000 sts ExternHoehenValue,r165390 2bfa 8091 0000 lds r24,ExternControl+65391 2bfe 9927 clr r255392 2c00 8E15 cp r24,r145393 2c02 9F05 cpc r25,r155394 2c04 04F4 brge .L4575395 2c06 9093 0000 sts (StickGas)+1,r255396 2c0a 8093 0000 sts StickGas,r245397 .L457:5398 2c0e 8091 0000 lds r24,StickGas5399 2c12 9091 0000 lds r25,(StickGas)+15400 2c16 97FF sbrs r25,75401 2c18 00C0 rjmp .L4595402 2c1a 1092 0000 sts (StickGas)+1,__zero_reg__5403 2c1e 1092 0000 sts StickGas,__zero_reg__5404 .L459:5405 2c22 8091 0000 lds r24,Parameter_GlobalConfig5406 2c26 82FF sbrs r24,25407 2c28 00C0 rjmp .L4605408 2c2a 1092 0000 sts IntegralFaktor,__zero_reg__5409 .L460:5410 2c2e 4091 0000 lds r20,StickNick5411 2c32 5091 0000 lds r21,(StickNick)+15412 2c36 CA01 movw r24,r205413 2c38 57FD sbrc r21,75414 2c3a 0396 adiw r24,35415 .L462:5416 2c3c 9C01 movw r18,r245417 2c3e 3595 asr r195418 2c40 2795 ror r185419 2c42 3595 asr r195420 2c44 2795 ror r185421 2c46 37FF sbrs r19,75422 2c48 00C0 rjmp .L4635423 2c4a 3095 com r195424 2c4c 2195 neg r185425 2c4e 3F4F sbci r19,lo8(-1)5426 .L463:5427 2c50 8091 0000 lds r24,MaxStickNick5428 2c54 9091 0000 lds r25,(MaxStickNick)+15429 2c58 8217 cp r24,r185430 2c5a 9307 cpc r25,r195431 2c5c 04F4 brge .L4615432 2c5e CA01 movw r24,r205433 2c60 57FF sbrs r21,75434 2c62 00C0 rjmp .L4645435 2c64 9095 com r255436 2c66 8195 neg r245437 2c68 9F4F sbci r25,lo8(-1)5438 .L464:5439 2c6a 97FD sbrc r25,75440 2c6c 0396 adiw r24,35441 .L465:5442 2c6e 9595 asr r255443 2c70 8795 ror r245444 2c72 9595 asr r255445 2c74 8795 ror r245446 2c76 9093 0000 sts (MaxStickNick)+1,r255447 2c7a 8093 0000 sts MaxStickNick,r245448 2c7e 8536 cpi r24,1015449 2c80 9105 cpc r25,__zero_reg__5450 2c82 04F0 brlt .L4675451 2c84 84E6 ldi r24,lo8(100)5452 2c86 90E0 ldi r25,hi8(100)5453 2c88 00C0 rjmp .L8925454 .L461:5455 2c8a 0197 sbiw r24,15456 .L892:5457 2c8c 9093 0000 sts (MaxStickNick)+1,r255458 2c90 8093 0000 sts MaxStickNick,r245459 .L467:5460 2c94 4091 0000 lds r20,StickRoll5461 2c98 5091 0000 lds r21,(StickRoll)+15462 2c9c CA01 movw r24,r205463 2c9e 57FD sbrc r21,75464 2ca0 0396 adiw r24,35465 .L469:5466 2ca2 9C01 movw r18,r245467 2ca4 3595 asr r195468 2ca6 2795 ror r185469 2ca8 3595 asr r195470 2caa 2795 ror r185471 2cac 37FF sbrs r19,75472 2cae 00C0 rjmp .L4705473 2cb0 3095 com r195474 2cb2 2195 neg r185475 2cb4 3F4F sbci r19,lo8(-1)5476 .L470:5477 2cb6 8091 0000 lds r24,MaxStickRoll5478 2cba 9091 0000 lds r25,(MaxStickRoll)+15479 2cbe 8217 cp r24,r185480 2cc0 9307 cpc r25,r195481 2cc2 04F4 brge .L4685482 2cc4 CA01 movw r24,r205483 2cc6 57FF sbrs r21,75484 2cc8 00C0 rjmp .L4715485 2cca 9095 com r255486 2ccc 8195 neg r245487 2cce 9F4F sbci r25,lo8(-1)5488 .L471:5489 2cd0 97FD sbrc r25,75490 2cd2 0396 adiw r24,35491 .L472:5492 2cd4 9595 asr r255493 2cd6 8795 ror r245494 2cd8 9595 asr r255495 2cda 8795 ror r245496 2cdc 9093 0000 sts (MaxStickRoll)+1,r255497 2ce0 8093 0000 sts MaxStickRoll,r245498 2ce4 8536 cpi r24,1015499 2ce6 9105 cpc r25,__zero_reg__5500 2ce8 04F0 brlt .L4745501 2cea 84E6 ldi r24,lo8(100)5502 2cec 90E0 ldi r25,hi8(100)5503 2cee 00C0 rjmp .L8935504 .L468:5505 2cf0 0197 sbiw r24,15506 .L893:5507 2cf2 9093 0000 sts (MaxStickRoll)+1,r255508 2cf6 8093 0000 sts MaxStickRoll,r245509 .L474:5510 2cfa 8091 0000 lds r24,FC_StatusFlags5511 2cfe 84FF sbrs r24,45512 2d00 00C0 rjmp .L4755513 2d02 1092 0000 sts (MaxStickNick)+1,__zero_reg__5514 2d06 1092 0000 sts MaxStickNick,__zero_reg__5515 2d0a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5516 2d0e 1092 0000 sts MaxStickRoll,__zero_reg__5517 .L475:5518 2d12 ED2D mov r30,r135519 2d14 FF27 clr r315520 2d16 EE0F add r30,r305521 2d18 FF1F adc r31,r315522 2d1a E050 subi r30,lo8(-(PPM_in))5523 2d1c F040 sbci r31,hi8(-(PPM_in))5524 2d1e 4091 0000 lds r20,EE_Parameter+605525 2d22 242F mov r18,r205526 2d24 3327 clr r195527 2d26 8081 ld r24,Z5528 2d28 9181 ldd r25,Z+15529 2d2a 2817 cp r18,r245530 2d2c 3907 cpc r19,r255531 2d2e 04F4 brge .L4765532 2d30 8091 0000 lds r24,EE_Parameter+1085533 2d34 82FF sbrs r24,25534 2d36 00C0 rjmp .L4765535 2d38 81E0 ldi r24,lo8(1)5536 2d3a 8093 0000 sts Looping_Links,r245537 2d3e 00C0 rjmp .L4775538 .L476:5539 2d40 ED2D mov r30,r135540 2d42 FF27 clr r315541 2d44 EE0F add r30,r305542 2d46 FF1F adc r31,r315543 2d48 E050 subi r30,lo8(-(PPM_in))5544 2d4a F040 sbci r31,hi8(-(PPM_in))5545 2d4c 842F mov r24,r205546 2d4e 9927 clr r255547 2d50 2091 0000 lds r18,EE_Parameter+615548 2d54 821B sub r24,r185549 2d56 9109 sbc r25,__zero_reg__5550 2d58 2081 ld r18,Z5551 2d5a 3181 ldd r19,Z+15552 2d5c 2817 cp r18,r245553 2d5e 3907 cpc r19,r255554 2d60 04F4 brge .L4775555 2d62 1092 0000 sts Looping_Links,__zero_reg__5556 .L477:5557 2d66 4091 0000 lds r20,EE_Parameter+25558 2d6a E42F mov r30,r205559 2d6c FF27 clr r315560 2d6e EE0F add r30,r305561 2d70 FF1F adc r31,r315562 2d72 E050 subi r30,lo8(-(PPM_in))5563 2d74 F040 sbci r31,hi8(-(PPM_in))5564 2d76 5091 0000 lds r21,EE_Parameter+605565 2d7a 852F mov r24,r215566 2d7c 9927 clr r255567 2d7e 2227 clr r185568 2d80 3327 clr r195569 2d82 281B sub r18,r245570 2d84 390B sbc r19,r255571 2d86 8081 ld r24,Z5572 2d88 9181 ldd r25,Z+15573 2d8a 8217 cp r24,r185574 2d8c 9307 cpc r25,r195575 2d8e 04F4 brge .L4795576 2d90 8091 0000 lds r24,EE_Parameter+1085577 2d94 83FF sbrs r24,35578 2d96 00C0 rjmp .L4795579 2d98 81E0 ldi r24,lo8(1)5580 2d9a 8093 0000 sts Looping_Rechts,r245581 2d9e 00C0 rjmp .L4805582 .L479:5583 2da0 8091 0000 lds r24,Looping_Rechts5584 2da4 8823 tst r245585 2da6 01F0 breq .L4805586 2da8 E42F mov r30,r205587 2daa FF27 clr r315588 2dac EE0F add r30,r305589 2dae FF1F adc r31,r315590 2db0 E050 subi r30,lo8(-(PPM_in))5591 2db2 F040 sbci r31,hi8(-(PPM_in))5592 2db4 8091 0000 lds r24,EE_Parameter+615593 2db8 9927 clr r255594 2dba 851B sub r24,r215595 2dbc 9109 sbc r25,__zero_reg__5596 2dbe 2081 ld r18,Z5597 2dc0 3181 ldd r19,Z+15598 2dc2 8217 cp r24,r185599 2dc4 9307 cpc r25,r195600 2dc6 04F4 brge .L4805601 2dc8 1092 0000 sts Looping_Rechts,__zero_reg__5602 .L480:5603 2dcc EC2D mov r30,r125604 2dce FF27 clr r315605 2dd0 EE0F add r30,r305606 2dd2 FF1F adc r31,r315607 2dd4 E050 subi r30,lo8(-(PPM_in))5608 2dd6 F040 sbci r31,hi8(-(PPM_in))5609 2dd8 4091 0000 lds r20,EE_Parameter+605610 2ddc 242F mov r18,r205611 2dde 3327 clr r195612 2de0 8081 ld r24,Z5613 2de2 9181 ldd r25,Z+15614 2de4 2817 cp r18,r245615 2de6 3907 cpc r19,r255616 2de8 04F4 brge .L4835617 2dea 8091 0000 lds r24,EE_Parameter+1085618 2dee 80FF sbrs r24,05619 2df0 00C0 rjmp .L4835620 2df2 81E0 ldi r24,lo8(1)5621 2df4 8093 0000 sts Looping_Oben,r245622 2df8 00C0 rjmp .L4845623 .L483:5624 2dfa 8091 0000 lds r24,Looping_Oben5625 2dfe 8823 tst r245626 2e00 01F0 breq .L4845627 2e02 EC2D mov r30,r125628 2e04 FF27 clr r315629 2e06 EE0F add r30,r305630 2e08 FF1F adc r31,r315631 2e0a E050 subi r30,lo8(-(PPM_in))5632 2e0c F040 sbci r31,hi8(-(PPM_in))5633 2e0e 842F mov r24,r205634 2e10 9927 clr r255635 2e12 2091 0000 lds r18,EE_Parameter+615636 2e16 821B sub r24,r185637 2e18 9109 sbc r25,__zero_reg__5638 2e1a 2081 ld r18,Z5639 2e1c 3181 ldd r19,Z+15640 2e1e 2817 cp r18,r245641 2e20 3907 cpc r19,r255642 2e22 04F4 brge .L4845643 2e24 1092 0000 sts Looping_Oben,__zero_reg__5644 .L484:5645 2e28 4091 0000 lds r20,EE_Parameter+15646 2e2c E42F mov r30,r205647 2e2e FF27 clr r315648 2e30 EE0F add r30,r305649 2e32 FF1F adc r31,r315650 2e34 E050 subi r30,lo8(-(PPM_in))5651 2e36 F040 sbci r31,hi8(-(PPM_in))5652 2e38 5091 0000 lds r21,EE_Parameter+605653 2e3c 852F mov r24,r215654 2e3e 9927 clr r255655 2e40 2227 clr r185656 2e42 3327 clr r195657 2e44 281B sub r18,r245658 2e46 390B sbc r19,r255659 2e48 8081 ld r24,Z5660 2e4a 9181 ldd r25,Z+15661 2e4c 8217 cp r24,r185662 2e4e 9307 cpc r25,r195663 2e50 04F4 brge .L4875664 2e52 8091 0000 lds r24,EE_Parameter+1085665 2e56 81FF sbrs r24,15666 2e58 00C0 rjmp .L4875667 2e5a 81E0 ldi r24,lo8(1)5668 2e5c 8093 0000 sts Looping_Unten,r245669 2e60 00C0 rjmp .L4885670 .L487:5671 2e62 8091 0000 lds r24,Looping_Unten5672 2e66 8823 tst r245673 2e68 01F0 breq .L4885674 2e6a E42F mov r30,r205675 2e6c FF27 clr r315676 2e6e EE0F add r30,r305677 2e70 FF1F adc r31,r315678 2e72 E050 subi r30,lo8(-(PPM_in))5679 2e74 F040 sbci r31,hi8(-(PPM_in))5680 2e76 8091 0000 lds r24,EE_Parameter+615681 2e7a 9927 clr r255682 2e7c 851B sub r24,r215683 2e7e 9109 sbc r25,__zero_reg__5684 2e80 2081 ld r18,Z5685 2e82 3181 ldd r19,Z+15686 2e84 8217 cp r24,r185687 2e86 9307 cpc r25,r195688 2e88 04F4 brge .L4885689 2e8a 1092 0000 sts Looping_Unten,__zero_reg__5690 .L488:5691 2e8e 8091 0000 lds r24,Looping_Links5692 2e92 8823 tst r245693 2e94 01F4 brne .L4925694 2e96 8091 0000 lds r24,Looping_Rechts5695 2e9a 8111 cpse r24,__zero_reg__5696 .L492:5697 2e9c 81E0 ldi r24,lo8(1)5698 .L491:5699 2e9e 8093 0000 sts Looping_Roll,r245700 2ea2 8091 0000 lds r24,Looping_Oben5701 2ea6 8823 tst r245702 2ea8 01F4 brne .L4955703 2eaa 8091 0000 lds r24,Looping_Unten5704 2eae 8823 tst r245705 2eb0 01F0 breq .L4945706 .L495:5707 2eb2 81E0 ldi r24,lo8(1)5708 2eb4 8093 0000 sts Looping_Nick,r245709 2eb8 1092 0000 sts Looping_Roll,__zero_reg__5710 2ebc 1092 0000 sts Looping_Links,__zero_reg__5711 2ec0 1092 0000 sts Looping_Rechts,__zero_reg__5712 2ec4 00C0 rjmp .L4365713 .L494:5714 2ec6 8093 0000 sts Looping_Nick,r245715 .L436:5716 2eca 8091 0000 lds r24,Looping_Roll5717 2ece 8823 tst r245718 2ed0 01F4 brne .L4985719 2ed2 8091 0000 lds r24,Looping_Nick5720 2ed6 8823 tst r245721 2ed8 01F0 breq .L4975722 .L498:5723 2eda 8091 0000 lds r24,EE_Parameter+595724 2ede 9927 clr r255725 2ee0 2981 ldd r18,Y+15726 2ee2 3A81 ldd r19,Y+25727 2ee4 8217 cp r24,r185728 2ee6 9307 cpc r25,r195729 2ee8 04F4 brge .L4995730 2eea 9A83 std Y+2,r255731 2eec 8983 std Y+1,r245732 .L499:5733 2eee 81E0 ldi r24,lo8(1)5734 2ef0 8093 0000 sts TrichterFlug,r245735 .L497:5736 2ef4 8091 0000 lds r24,FC_StatusFlags25737 2ef8 9927 clr r255738 2efa 9C01 movw r18,r245739 2efc 2470 andi r18,lo8(4)5740 2efe 3070 andi r19,hi8(4)5741 2f00 82FF sbrs r24,25742 2f02 00C0 rjmp .L5005743 2f04 8091 0000 lds r24,GPS_Nick5744 2f08 9091 0000 lds r25,(GPS_Nick)+15745 2f0c 9095 com r255746 2f0e 8195 neg r245747 2f10 9F4F sbci r25,lo8(-1)5748 2f12 9093 0000 sts (StickNick)+1,r255749 2f16 8093 0000 sts StickNick,r245750 2f1a 8091 0000 lds r24,GPS_Roll5751 2f1e 9091 0000 lds r25,(GPS_Roll)+15752 2f22 9095 com r255753 2f24 8195 neg r245754 2f26 9F4F sbci r25,lo8(-1)5755 2f28 9093 0000 sts (StickRoll)+1,r255756 2f2c 8093 0000 sts StickRoll,r245757 2f30 8091 0000 lds r24,StickGasHover5758 2f34 9091 0000 lds r25,(StickGasHover)+15759 2f38 9093 0000 sts (StickGas)+1,r255760 2f3c 8093 0000 sts StickGas,r245761 2f40 8091 0000 lds r24,Parameter_GlobalConfig5762 2f44 8B77 andi r24,lo8(123)5763 2f46 8B66 ori r24,lo8(107)5764 2f48 8093 0000 sts Parameter_GlobalConfig,r245765 2f4c 8091 0000 lds r24,Parameter_ExtraConfig5766 2f50 8C7B andi r24,lo8(-68)5767 2f52 8093 0000 sts Parameter_ExtraConfig,r245768 2f56 88EC ldi r24,lo8(-56)5769 2f58 8093 0000 sts Parameter_HoehenSchalter,r245770 2f5c 00C0 rjmp .L5015771 .L500:5772 2f5e 8091 0000 lds r24,FC_StatusFlags5773 2f62 84FF sbrs r24,45774 2f64 00C0 rjmp .L5015775 2f66 3093 0000 sts (StickGier)+1,r195776 2f6a 2093 0000 sts StickGier,r185777 2f6e 3093 0000 sts (StickNick)+1,r195778 2f72 2093 0000 sts StickNick,r185779 2f76 3093 0000 sts (StickRoll)+1,r195780 2f7a 2093 0000 sts StickRoll,r185781 2f7e 9AE5 ldi r25,lo8(90)5782 2f80 9093 0000 sts GyroFaktor,r255783 2f84 88E7 ldi r24,lo8(120)5784 2f86 8093 0000 sts IntegralFaktor,r245785 2f8a 9093 0000 sts GyroFaktorGier,r255786 2f8e 8093 0000 sts IntegralFaktorGier,r245787 2f92 1092 0000 sts Looping_Roll,__zero_reg__5788 2f96 1092 0000 sts Looping_Nick,__zero_reg__5789 .L501:5790 2f9a 8091 0000 lds r24,MittelIntegralNick5791 2f9e 9091 0000 lds r25,(MittelIntegralNick)+15792 2fa2 A091 0000 lds r26,(MittelIntegralNick)+25793 2fa6 B091 0000 lds r27,(MittelIntegralNick)+35794 2faa 2091 0000 lds r18,IntegralNick5795 2fae 3091 0000 lds r19,(IntegralNick)+15796 2fb2 4091 0000 lds r20,(IntegralNick)+25797 2fb6 5091 0000 lds r21,(IntegralNick)+35798 2fba 820F add r24,r185799 2fbc 931F adc r25,r195800 2fbe A41F adc r26,r205801 2fc0 B51F adc r27,r215802 2fc2 8093 0000 sts MittelIntegralNick,r245803 2fc6 9093 0000 sts (MittelIntegralNick)+1,r255804 2fca A093 0000 sts (MittelIntegralNick)+2,r265805 2fce B093 0000 sts (MittelIntegralNick)+3,r275806 2fd2 8091 0000 lds r24,MittelIntegralRoll5807 2fd6 9091 0000 lds r25,(MittelIntegralRoll)+15808 2fda A091 0000 lds r26,(MittelIntegralRoll)+25809 2fde B091 0000 lds r27,(MittelIntegralRoll)+35810 2fe2 E090 0000 lds r14,IntegralRoll5811 2fe6 F090 0000 lds r15,(IntegralRoll)+15812 2fea 0091 0000 lds r16,(IntegralRoll)+25813 2fee 1091 0000 lds r17,(IntegralRoll)+35814 2ff2 EB82 std Y+3,r145815 2ff4 FC82 std Y+4,r155816 2ff6 0D83 std Y+5,r165817 2ff8 1E83 std Y+6,r175818 2ffa 8E0D add r24,r145819 2ffc 9F1D adc r25,r155820 2ffe A01F adc r26,r165821 3000 B11F adc r27,r175822 3002 8093 0000 sts MittelIntegralRoll,r245823 3006 9093 0000 sts (MittelIntegralRoll)+1,r255824 300a A093 0000 sts (MittelIntegralRoll)+2,r265825 300e B093 0000 sts (MittelIntegralRoll)+3,r275826 3012 8091 0000 lds r24,MittelIntegralNick25827 3016 9091 0000 lds r25,(MittelIntegralNick2)+15828 301a A091 0000 lds r26,(MittelIntegralNick2)+25829 301e B091 0000 lds r27,(MittelIntegralNick2)+35830 3022 E090 0000 lds r14,IntegralNick25831 3026 F090 0000 lds r15,(IntegralNick2)+15832 302a 0091 0000 lds r16,(IntegralNick2)+25833 302e 1091 0000 lds r17,(IntegralNick2)+35834 3032 EF82 std Y+7,r145835 3034 F886 std Y+8,r155836 3036 0987 std Y+9,r165837 3038 1A87 std Y+10,r175838 303a 8E0D add r24,r145839 303c 9F1D adc r25,r155840 303e A01F adc r26,r165841 3040 B11F adc r27,r175842 3042 8093 0000 sts MittelIntegralNick2,r245843 3046 9093 0000 sts (MittelIntegralNick2)+1,r255844 304a A093 0000 sts (MittelIntegralNick2)+2,r265845 304e B093 0000 sts (MittelIntegralNick2)+3,r275846 3052 8091 0000 lds r24,MittelIntegralRoll25847 3056 9091 0000 lds r25,(MittelIntegralRoll2)+15848 305a A091 0000 lds r26,(MittelIntegralRoll2)+25849 305e B091 0000 lds r27,(MittelIntegralRoll2)+35850 3062 E090 0000 lds r14,IntegralRoll25851 3066 F090 0000 lds r15,(IntegralRoll2)+15852 306a 0091 0000 lds r16,(IntegralRoll2)+25853 306e 1091 0000 lds r17,(IntegralRoll2)+35854 3072 EB86 std Y+11,r145855 3074 FC86 std Y+12,r155856 3076 0D87 std Y+13,r165857 3078 1E87 std Y+14,r175858 307a 8E0D add r24,r145859 307c 9F1D adc r25,r155860 307e A01F adc r26,r165861 3080 B11F adc r27,r175862 3082 8093 0000 sts MittelIntegralRoll2,r245863 3086 9093 0000 sts (MittelIntegralRoll2)+1,r255864 308a A093 0000 sts (MittelIntegralRoll2)+2,r265865 308e B093 0000 sts (MittelIntegralRoll2)+3,r275866 3092 F090 0000 lds r15,Looping_Nick5867 3096 FF86 std Y+15,r155868 3098 FF20 tst r155869 309a 01F4 brne .L5045870 309c 8091 0000 lds r24,Looping_Roll5871 30a0 8823 tst r245872 30a2 01F4 brne .+25873 30a4 00C0 rjmp .L8865874 .L504:5875 30a6 1092 0000 sts IntegralAccNick,__zero_reg__5876 30aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5877 30ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5878 30b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5879 30b6 1092 0000 sts IntegralAccRoll,__zero_reg__5880 30ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5881 30be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5882 30c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5883 30c6 1092 0000 sts MittelIntegralNick,__zero_reg__5884 30ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5885 30ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5886 30d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5887 30d6 1092 0000 sts MittelIntegralRoll,__zero_reg__5888 30da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5889 30de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5890 30e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5891 30e6 1092 0000 sts MittelIntegralNick2,__zero_reg__5892 30ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5893 30ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5894 30f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5895 30f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__5896 30fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5897 30fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5898 3102 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5899 3106 8091 0000 lds r24,Mess_IntegralNick5900 310a 9091 0000 lds r25,(Mess_IntegralNick)+15901 310e A091 0000 lds r26,(Mess_IntegralNick)+25902 3112 B091 0000 lds r27,(Mess_IntegralNick)+35903 3116 8093 0000 sts Mess_IntegralNick2,r245904 311a 9093 0000 sts (Mess_IntegralNick2)+1,r255905 311e A093 0000 sts (Mess_IntegralNick2)+2,r265906 3122 B093 0000 sts (Mess_IntegralNick2)+3,r275907 3126 8091 0000 lds r24,Mess_IntegralRoll5908 312a 9091 0000 lds r25,(Mess_IntegralRoll)+15909 312e A091 0000 lds r26,(Mess_IntegralRoll)+25910 3132 B091 0000 lds r27,(Mess_IntegralRoll)+35911 3136 8093 0000 sts Mess_IntegralRoll2,r245912 313a 9093 0000 sts (Mess_IntegralRoll2)+1,r255913 313e A093 0000 sts (Mess_IntegralRoll2)+2,r265914 3142 B093 0000 sts (Mess_IntegralRoll2)+3,r275915 3146 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5916 314a 1092 0000 sts ZaehlMessungen,__zero_reg__5917 314e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5918 3152 1092 0000 sts LageKorrekturNick,__zero_reg__5919 3156 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5920 315a 1092 0000 sts LageKorrekturRoll,__zero_reg__5921 315e 0F85 ldd r16,Y+155922 3160 0023 tst r165923 3162 01F0 breq .+25924 3164 00C0 rjmp .L5055925 .L886:5926 3166 8091 0000 lds r24,Looping_Roll5927 316a 8823 tst r245928 316c 01F0 breq .+25929 316e 00C0 rjmp .L5055930 3170 8091 0000 lds r24,Aktuell_az5931 3174 9091 0000 lds r25,(Aktuell_az)+15932 3178 8150 subi r24,lo8(513)5933 317a 9240 sbci r25,hi8(513)5934 317c 04F4 brge .L5065935 317e 8091 0000 lds r24,MotorenEin5936 3182 8823 tst r245937 3184 01F4 brne .+25938 3186 00C0 rjmp .L5055939 .L506:5940 3188 9090 0000 lds r9,FromNaviCtrl_Value5941 318c A090 0000 lds r10,EE_Parameter+285942 3190 2090 0000 lds r2,Mittelwert_AccNick5943 3194 3090 0000 lds r3,(Mittelwert_AccNick)+15944 3198 4090 0000 lds r4,Mittelwert_AccRoll5945 319c 5090 0000 lds r5,(Mittelwert_AccRoll)+15946 31a0 1914 cp __zero_reg__,r95947 31a2 04F0 brlt .+25948 31a4 00C0 rjmp .L5075949 31a6 BB24 clr r115950 31a8 CC24 clr r125951 31aa DD24 clr r135952 31ac CA01 movw r24,r205953 31ae B901 movw r22,r185954 31b0 A601 movw r20,r125955 31b2 9501 movw r18,r105956 31b4 0E94 0000 call __divmodsi45957 31b8 7901 movw r14,r185958 31ba 8A01 movw r16,r205959 31bc 8091 0000 lds r24,FromNaviCtrl+95960 31c0 9091 0000 lds r25,(FromNaviCtrl+9)+15961 31c4 281A sub r2,r245962 31c6 390A sbc r3,r255963 31c8 C101 movw r24,r25964 31ca AA27 clr r265965 31cc 97FD sbrc r25,75966 31ce A095 com r265967 31d0 BA2F mov r27,r265968 31d2 E81A sub r14,r245969 31d4 F90A sbc r15,r255970 31d6 0A0B sbc r16,r265971 31d8 1B0B sbc r17,r275972 31da 6B81 ldd r22,Y+35973 31dc 7C81 ldd r23,Y+45974 31de 8D81 ldd r24,Y+55975 31e0 9E81 ldd r25,Y+65976 31e2 A601 movw r20,r125977 31e4 9501 movw r18,r105978 31e6 0E94 0000 call __divmodsi45979 31ea 5901 movw r10,r185980 31ec 6A01 movw r12,r205981 31ee 8091 0000 lds r24,FromNaviCtrl+115982 31f2 9091 0000 lds r25,(FromNaviCtrl+11)+15983 31f6 481A sub r4,r245984 31f8 590A sbc r5,r255985 31fa C201 movw r24,r45986 31fc AA27 clr r265987 31fe 97FD sbrc r25,75988 3200 A095 com r265989 3202 BA2F mov r27,r265990 3204 A81A sub r10,r245991 3206 B90A sbc r11,r255992 3208 CA0A sbc r12,r265993 320a DB0A sbc r13,r275994 320c 292C mov r2,r95995 320e 3324 clr r35996 3210 27FC sbrc r2,75997 3212 3094 com r35998 3214 432C mov r4,r35999 3216 532C mov r5,r36000 3218 C801 movw r24,r166001 321a B701 movw r22,r146002 321c A201 movw r20,r46003 321e 9101 movw r18,r26004 3220 0E94 0000 call __mulsi36005 3224 97FF sbrs r25,76006 3226 00C0 rjmp .L5086007 3228 6150 subi r22,lo8(-(511))6008 322a 7E4F sbci r23,hi8(-(511))6009 322c 8F4F sbci r24,hlo8(-(511))6010 322e 9F4F sbci r25,hhi8(-(511))6011 .L508:6012 3230 3B01 movw r6,r226013 3232 4C01 movw r8,r246014 3234 09E0 ldi r16,96015 3236 9594 1: asr r96016 3238 8794 ror r86017 323a 7794 ror r76018 323c 6794 ror r66019 323e 0A95 dec r166020 3240 01F4 brne 1b6021 3242 C601 movw r24,r126022 3244 B501 movw r22,r106023 3246 A201 movw r20,r46024 3248 9101 movw r18,r26025 324a 0E94 0000 call __mulsi36026 324e 97FF sbrs r25,76027 3250 00C0 rjmp .L5096028 3252 6150 subi r22,lo8(-(511))6029 3254 7E4F sbci r23,hi8(-(511))6030 3256 8F4F sbci r24,hlo8(-(511))6031 3258 9F4F sbci r25,hhi8(-(511))6032 .L509:6033 325a 5B01 movw r10,r226034 325c 6C01 movw r12,r246035 325e 19E0 ldi r17,96036 3260 D594 1: asr r136037 3262 C794 ror r126038 3264 B794 ror r116039 3266 A794 ror r106040 3268 1A95 dec r176041 326a 01F4 brne 1b6042 326c 8091 0000 lds r24,MaxStickNick6043 3270 9091 0000 lds r25,(MaxStickNick)+16044 3274 8134 cpi r24,656045 3276 9105 cpc r25,__zero_reg__6046 3278 04F4 brge .L5116047 327a 8091 0000 lds r24,MaxStickRoll6048 327e 9091 0000 lds r25,(MaxStickRoll)+16049 3282 8134 cpi r24,656050 3284 9105 cpc r25,__zero_reg__6051 3286 04F0 brlt .L5106052 .L511:6053 3288 D401 movw r26,r86054 328a C301 movw r24,r66055 328c 97FE sbrs r9,76056 328e 00C0 rjmp .L5126057 3290 0196 adiw r24,16058 3292 A11D adc r26,__zero_reg__6059 3294 B11D adc r27,__zero_reg__6060 .L512:6061 3296 3C01 movw r6,r246062 3298 4D01 movw r8,r266063 329a 9594 asr r96064 329c 8794 ror r86065 329e 7794 ror r76066 32a0 6794 ror r66067 32a2 D601 movw r26,r126068 32a4 C501 movw r24,r106069 32a6 D7FE sbrs r13,76070 32a8 00C0 rjmp .L5136071 32aa 0196 adiw r24,16072 32ac A11D adc r26,__zero_reg__6073 32ae B11D adc r27,__zero_reg__6074 .L513:6075 32b0 5C01 movw r10,r246076 32b2 6D01 movw r12,r266077 32b4 D594 asr r136078 32b6 C794 ror r126079 32b8 B794 ror r116080 32ba A794 ror r106081 .L510:6082 32bc 8091 0000 lds r24,FromNaviCtrl_Value+26083 32c0 282F mov r18,r246084 32c2 3327 clr r196085 32c4 27FD sbrc r18,76086 32c6 3095 com r196087 32c8 432F mov r20,r196088 32ca 532F mov r21,r196089 32cc 2615 cp r18,r66090 32ce 3705 cpc r19,r76091 32d0 4805 cpc r20,r86092 32d2 5905 cpc r21,r96093 32d4 04F4 brge .L5146094 32d6 3901 movw r6,r186095 32d8 4A01 movw r8,r206096 .L514:6097 32da 9927 clr r256098 32dc 87FD sbrc r24,76099 32de 9095 com r256100 32e0 9095 com r256101 32e2 8195 neg r246102 32e4 9F4F sbci r25,lo8(-1)6103 32e6 AA27 clr r266104 32e8 97FD sbrc r25,76105 32ea A095 com r266106 32ec BA2F mov r27,r266107 32ee 6816 cp r6,r246108 32f0 7906 cpc r7,r256109 32f2 8A06 cpc r8,r266110 32f4 9B06 cpc r9,r276111 32f6 04F4 brge .L5156112 32f8 3C01 movw r6,r246113 32fa 4D01 movw r8,r266114 .L515:6115 32fc 2A15 cp r18,r106116 32fe 3B05 cpc r19,r116117 3300 4C05 cpc r20,r126118 3302 5D05 cpc r21,r136119 3304 04F4 brge .L5166120 3306 5901 movw r10,r186121 3308 6A01 movw r12,r206122 .L516:6123 330a A816 cp r10,r246124 330c B906 cpc r11,r256125 330e CA06 cpc r12,r266126 3310 DB06 cpc r13,r276127 3312 04F0 brlt .+26128 3314 00C0 rjmp .L5186129 3316 5C01 movw r10,r246130 3318 6D01 movw r12,r266131 331a 00C0 rjmp .L5186132 .L507:6133 331c EA2C mov r14,r106134 331e FF24 clr r156135 3320 0027 clr r166136 3322 1127 clr r176137 3324 CA01 movw r24,r206138 3326 B901 movw r22,r186139 3328 A801 movw r20,r166140 332a 9701 movw r18,r146141 332c 0E94 0000 call __divmodsi46142 3330 3901 movw r6,r186143 3332 4A01 movw r8,r206144 3334 C101 movw r24,r26145 3336 AA27 clr r266146 3338 97FD sbrc r25,76147 333a A095 com r266148 333c BA2F mov r27,r266149 333e 681A sub r6,r246150 3340 790A sbc r7,r256151 3342 8A0A sbc r8,r266152 3344 9B0A sbc r9,r276153 3346 6B81 ldd r22,Y+36154 3348 7C81 ldd r23,Y+46155 334a 8D81 ldd r24,Y+56156 334c 9E81 ldd r25,Y+66157 334e A801 movw r20,r166158 3350 9701 movw r18,r146159 3352 0E94 0000 call __divmodsi46160 3356 5901 movw r10,r186161 3358 6A01 movw r12,r206162 335a C201 movw r24,r46163 335c AA27 clr r266164 335e 97FD sbrc r25,76165 3360 A095 com r266166 3362 BA2F mov r27,r266167 3364 A81A sub r10,r246168 3366 B90A sbc r11,r256169 3368 CA0A sbc r12,r266170 336a DB0A sbc r13,r276171 336c D401 movw r26,r86172 336e C301 movw r24,r66173 3370 97FE sbrs r9,76174 3372 00C0 rjmp .L5196175 3374 0F96 adiw r24,156176 3376 A11D adc r26,__zero_reg__6177 3378 B11D adc r27,__zero_reg__6178 .L519:6179 337a 3C01 movw r6,r246180 337c 4D01 movw r8,r266181 337e F4E0 ldi r31,46182 3380 9594 1: asr r96183 3382 8794 ror r86184 3384 7794 ror r76185 3386 6794 ror r66186 3388 FA95 dec r316187 338a 01F4 brne 1b6188 338c D601 movw r26,r126189 338e C501 movw r24,r106190 3390 D7FE sbrs r13,76191 3392 00C0 rjmp .L5206192 3394 0F96 adiw r24,156193 3396 A11D adc r26,__zero_reg__6194 3398 B11D adc r27,__zero_reg__6195 .L520:6196 339a 5C01 movw r10,r246197 339c 6D01 movw r12,r266198 339e E4E0 ldi r30,46199 33a0 D594 1: asr r136200 33a2 C794 ror r126201 33a4 B794 ror r116202 33a6 A794 ror r106203 33a8 EA95 dec r306204 33aa 01F4 brne 1b6205 33ac 8091 0000 lds r24,MaxStickNick6206 33b0 9091 0000 lds r25,(MaxStickNick)+16207 33b4 8134 cpi r24,656208 33b6 9105 cpc r25,__zero_reg__6209 33b8 04F4 brge .L5226210 33ba 8091 0000 lds r24,MaxStickRoll6211 33be 9091 0000 lds r25,(MaxStickRoll)+16212 33c2 8134 cpi r24,656213 33c4 9105 cpc r25,__zero_reg__6214 33c6 04F0 brlt .L5216215 .L522:6216 33c8 C401 movw r24,r86217 33ca B301 movw r22,r66218 33cc 23E0 ldi r18,lo8(3)6219 33ce 30E0 ldi r19,hi8(3)6220 33d0 40E0 ldi r20,hlo8(3)6221 33d2 50E0 ldi r21,hhi8(3)6222 33d4 0E94 0000 call __divmodsi46223 33d8 3901 movw r6,r186224 33da 4A01 movw r8,r206225 33dc C601 movw r24,r126226 33de B501 movw r22,r106227 33e0 23E0 ldi r18,lo8(3)6228 33e2 30E0 ldi r19,hi8(3)6229 33e4 40E0 ldi r20,hlo8(3)6230 33e6 50E0 ldi r21,hhi8(3)6231 33e8 0E94 0000 call __divmodsi46232 33ec 5901 movw r10,r186233 33ee 6A01 movw r12,r206234 .L521:6235 33f0 8091 0000 lds r24,EE_Parameter+46236 33f4 E82F mov r30,r246237 33f6 FF27 clr r316238 33f8 EE0F add r30,r306239 33fa FF1F adc r31,r316240 33fc E050 subi r30,lo8(-(PPM_in))6241 33fe F040 sbci r31,hi8(-(PPM_in))6242 3400 8081 ld r24,Z6243 3402 9181 ldd r25,Z+16244 3404 0190 ld __tmp_reg__,Z+6245 3406 F081 ld r31,Z6246 3408 E02D mov r30,__tmp_reg__6247 340a F7FF sbrs r31,76248 340c 00C0 rjmp .L5246249 340e F095 com r316250 3410 E195 neg r306251 3412 FF4F sbci r31,lo8(-1)6252 .L524:6253 3414 7A97 sbiw r30,266254 3416 04F0 brlt .L5236255 3418 C401 movw r24,r86256 341a B301 movw r22,r66257 341c 23E0 ldi r18,lo8(3)6258 341e 30E0 ldi r19,hi8(3)6259 3420 40E0 ldi r20,hlo8(3)6260 3422 50E0 ldi r21,hhi8(3)6261 3424 0E94 0000 call __divmodsi46262 3428 3901 movw r6,r186263 342a 4A01 movw r8,r206264 342c C601 movw r24,r126265 342e B501 movw r22,r106266 3430 23E0 ldi r18,lo8(3)6267 3432 30E0 ldi r19,hi8(3)6268 3434 40E0 ldi r20,hlo8(3)6269 3436 50E0 ldi r21,hhi8(3)6270 3438 0E94 0000 call __divmodsi46271 343c 5901 movw r10,r186272 343e 6A01 movw r12,r206273 .L523:6274 3440 89E1 ldi r24,lo8(25)6275 3442 8093 0000 sts KompassFusion,r246276 3446 21E2 ldi r18,lo8(33)6277 3448 6216 cp r6,r186278 344a 7104 cpc r7,__zero_reg__6279 344c 8104 cpc r8,__zero_reg__6280 344e 9104 cpc r9,__zero_reg__6281 3450 04F0 brlt .L5256282 3452 70E2 ldi r23,lo8(32)6283 3454 672E mov r6,r236284 3456 712C mov r7,__zero_reg__6285 3458 812C mov r8,__zero_reg__6286 345a 912C mov r9,__zero_reg__6287 .L525:6288 345c 30EE ldi r19,lo8(-32)6289 345e 6316 cp r6,r196290 3460 3FEF ldi r19,hi8(-32)6291 3462 7306 cpc r7,r196292 3464 3FEF ldi r19,hlo8(-32)6293 3466 8306 cpc r8,r196294 3468 3FEF ldi r19,hhi8(-32)6295 346a 9306 cpc r9,r196296 346c 04F4 brge .L5266297 346e 60EE ldi r22,lo8(-32)6298 3470 662E mov r6,r226299 3472 6FEF ldi r22,hi8(-32)6300 3474 762E mov r7,r226301 3476 6FEF ldi r22,hlo8(-32)6302 3478 862E mov r8,r226303 347a 6FEF ldi r22,hhi8(-32)6304 347c 962E mov r9,r226305 .L526:6306 347e 41E2 ldi r20,lo8(33)6307 3480 A416 cp r10,r206308 3482 B104 cpc r11,__zero_reg__6309 3484 C104 cpc r12,__zero_reg__6310 3486 D104 cpc r13,__zero_reg__6311 3488 04F0 brlt .L5276312 348a 50E2 ldi r21,lo8(32)6313 348c A52E mov r10,r216314 348e B12C mov r11,__zero_reg__6315 3490 C12C mov r12,__zero_reg__6316 3492 D12C mov r13,__zero_reg__6317 .L527:6318 3494 50EE ldi r21,lo8(-32)6319 3496 A516 cp r10,r216320 3498 5FEF ldi r21,hi8(-32)6321 349a B506 cpc r11,r216322 349c 5FEF ldi r21,hlo8(-32)6323 349e C506 cpc r12,r216324 34a0 5FEF ldi r21,hhi8(-32)6325 34a2 D506 cpc r13,r216326 34a4 04F4 brge .L5186327 34a6 40EE ldi r20,lo8(-32)6328 34a8 A42E mov r10,r206329 34aa 4FEF ldi r20,hi8(-32)6330 34ac B42E mov r11,r206331 34ae 4FEF ldi r20,hlo8(-32)6332 34b0 C42E mov r12,r206333 34b2 4FEF ldi r20,hhi8(-32)6334 34b4 D42E mov r13,r206335 .L518:6336 34b6 8091 0000 lds r24,Mess_IntegralNick6337 34ba 9091 0000 lds r25,(Mess_IntegralNick)+16338 34be A091 0000 lds r26,(Mess_IntegralNick)+26339 34c2 B091 0000 lds r27,(Mess_IntegralNick)+36340 34c6 8619 sub r24,r66341 34c8 9709 sbc r25,r76342 34ca A809 sbc r26,r86343 34cc B909 sbc r27,r96344 34ce 8093 0000 sts Mess_IntegralNick,r246345 34d2 9093 0000 sts (Mess_IntegralNick)+1,r256346 34d6 A093 0000 sts (Mess_IntegralNick)+2,r266347 34da B093 0000 sts (Mess_IntegralNick)+3,r276348 34de 8091 0000 lds r24,Mess_IntegralRoll6349 34e2 9091 0000 lds r25,(Mess_IntegralRoll)+16350 34e6 A091 0000 lds r26,(Mess_IntegralRoll)+26351 34ea B091 0000 lds r27,(Mess_IntegralRoll)+36352 34ee 8A19 sub r24,r106353 34f0 9B09 sbc r25,r116354 34f2 AC09 sbc r26,r126355 34f4 BD09 sbc r27,r136356 34f6 8093 0000 sts Mess_IntegralRoll,r246357 34fa 9093 0000 sts (Mess_IntegralRoll)+1,r256358 34fe A093 0000 sts (Mess_IntegralRoll)+2,r266359 3502 B093 0000 sts (Mess_IntegralRoll)+3,r276360 .L505:6361 3506 8091 0000 lds r24,ZaehlMessungen6362 350a 9091 0000 lds r25,(ZaehlMessungen)+16363 350e 8F3F cpi r24,2556364 3510 9105 cpc r25,__zero_reg__6365 3512 01F0 breq .+26366 3514 00F4 brsh .+26367 3516 00C0 rjmp .L5296368 3518 6F85 ldd r22,Y+156369 351a 6623 tst r226370 351c 01F0 breq .+26371 351e 00C0 rjmp .L5306372 3520 8091 0000 lds r24,Looping_Roll6373 3524 8823 tst r246374 3526 01F0 breq .+26375 3528 00C0 rjmp .L5306376 352a 8091 0000 lds r24,TrichterFlug6377 352e 8823 tst r246378 3530 01F0 breq .+26379 3532 00C0 rjmp .L5306380 3534 7091 0000 lds r23,EE_Parameter+686381 3538 788B std Y+16,r236382 353a 7723 tst r236383 353c 01F4 brne .+26384 353e 00C0 rjmp .L5306385 3540 8091 0000 lds r24,MittelIntegralNick6386 3544 9091 0000 lds r25,(MittelIntegralNick)+16387 3548 A091 0000 lds r26,(MittelIntegralNick)+26388 354c B091 0000 lds r27,(MittelIntegralNick)+36389 3550 B7FF sbrs r27,76390 3552 00C0 rjmp .L5316391 3554 8150 subi r24,lo8(-(255))6392 3556 9F4F sbci r25,hi8(-(255))6393 3558 AF4F sbci r26,hlo8(-(255))6394 355a BF4F sbci r27,hhi8(-(255))6395 .L531:6396 355c E92E mov r14,r256397 355e FA2E mov r15,r266398 3560 0B2F mov r16,r276399 3562 1127 clr r176400 3564 07FD sbrc r16,76401 3566 1A95 dec r176402 3568 E092 0000 sts MittelIntegralNick,r146403 356c F092 0000 sts (MittelIntegralNick)+1,r156404 3570 0093 0000 sts (MittelIntegralNick)+2,r166405 3574 1093 0000 sts (MittelIntegralNick)+3,r176406 3578 8091 0000 lds r24,MittelIntegralRoll6407 357c 9091 0000 lds r25,(MittelIntegralRoll)+16408 3580 A091 0000 lds r26,(MittelIntegralRoll)+26409 3584 B091 0000 lds r27,(MittelIntegralRoll)+36410 3588 B7FF sbrs r27,76411 358a 00C0 rjmp .L5326412 358c 8150 subi r24,lo8(-(255))6413 358e 9F4F sbci r25,hi8(-(255))6414 3590 AF4F sbci r26,hlo8(-(255))6415 3592 BF4F sbci r27,hhi8(-(255))6416 .L532:6417 3594 892F mov r24,r256418 3596 9A2F mov r25,r266419 3598 AB2F mov r26,r276420 359a BB27 clr r276421 359c A7FD sbrc r26,76422 359e BA95 dec r276423 35a0 898B std Y+17,r246424 35a2 9A8B std Y+18,r256425 35a4 AB8B std Y+19,r266426 35a6 BC8B std Y+20,r276427 35a8 8093 0000 sts MittelIntegralRoll,r246428 35ac 9093 0000 sts (MittelIntegralRoll)+1,r256429 35b0 A093 0000 sts (MittelIntegralRoll)+2,r266430 35b4 B093 0000 sts (MittelIntegralRoll)+3,r276431 35b8 8091 0000 lds r24,EE_Parameter+286432 35bc A82E mov r10,r246433 35be BB24 clr r116434 35c0 CC24 clr r126435 35c2 DD24 clr r136436 35c4 2091 0000 lds r18,IntegralAccNick6437 35c8 3091 0000 lds r19,(IntegralAccNick)+16438 35cc 4091 0000 lds r20,(IntegralAccNick)+26439 35d0 5091 0000 lds r21,(IntegralAccNick)+36440 35d4 C601 movw r24,r126441 35d6 B501 movw r22,r106442 35d8 0E94 0000 call __mulsi36443 35dc 97FF sbrs r25,76444 35de 00C0 rjmp .L5336445 35e0 6150 subi r22,lo8(-(255))6446 35e2 7F4F sbci r23,hi8(-(255))6447 35e4 8F4F sbci r24,hlo8(-(255))6448 35e6 9F4F sbci r25,hhi8(-(255))6449 .L533:6450 35e8 672E mov r6,r236451 35ea 782E mov r7,r246452 35ec 892E mov r8,r256453 35ee 9924 clr r96454 35f0 87FC sbrc r8,76455 35f2 9A94 dec r96456 35f4 6092 0000 sts IntegralAccNick,r66457 35f8 7092 0000 sts (IntegralAccNick)+1,r76458 35fc 8092 0000 sts (IntegralAccNick)+2,r86459 3600 9092 0000 sts (IntegralAccNick)+3,r96460 3604 2091 0000 lds r18,IntegralAccRoll6461 3608 3091 0000 lds r19,(IntegralAccRoll)+16462 360c 4091 0000 lds r20,(IntegralAccRoll)+26463 3610 5091 0000 lds r21,(IntegralAccRoll)+36464 3614 C601 movw r24,r126465 3616 B501 movw r22,r106466 3618 0E94 0000 call __mulsi36467 361c 97FF sbrs r25,76468 361e 00C0 rjmp .L5346469 3620 6150 subi r22,lo8(-(255))6470 3622 7F4F sbci r23,hi8(-(255))6471 3624 8F4F sbci r24,hlo8(-(255))6472 3626 9F4F sbci r25,hhi8(-(255))6473 .L534:6474 3628 272E mov r2,r236475 362a 382E mov r3,r246476 362c 492E mov r4,r256477 362e 5524 clr r56478 3630 47FC sbrc r4,76479 3632 5A94 dec r56480 3634 2092 0000 sts IntegralAccRoll,r26481 3638 3092 0000 sts (IntegralAccRoll)+1,r36482 363c 4092 0000 sts (IntegralAccRoll)+2,r46483 3640 5092 0000 sts (IntegralAccRoll)+3,r56484 3644 8091 0000 lds r24,IntegralAccZ6485 3648 9091 0000 lds r25,(IntegralAccZ)+16486 364c A091 0000 lds r26,(IntegralAccZ)+26487 3650 B091 0000 lds r27,(IntegralAccZ)+36488 3654 B7FF sbrs r27,76489 3656 00C0 rjmp .L5356490 3658 8150 subi r24,lo8(-(255))6491 365a 9F4F sbci r25,hi8(-(255))6492 365c AF4F sbci r26,hlo8(-(255))6493 365e BF4F sbci r27,hhi8(-(255))6494 .L535:6495 3660 892F mov r24,r256496 3662 9A2F mov r25,r266497 3664 AB2F mov r26,r276498 3666 BB27 clr r276499 3668 A7FD sbrc r26,76500 366a BA95 dec r276501 366c 8093 0000 sts IntegralAccZ,r246502 3670 9093 0000 sts (IntegralAccZ)+1,r256503 3674 A093 0000 sts (IntegralAccZ)+2,r266504 3678 B093 0000 sts (IntegralAccZ)+3,r276505 367c D801 movw r26,r166506 367e C701 movw r24,r146507 3680 8619 sub r24,r66508 3682 9709 sbc r25,r76509 3684 A809 sbc r26,r86510 3686 B909 sbc r27,r96511 3688 8093 0000 sts IntegralFehlerNick.3,r246512 368c 9093 0000 sts (IntegralFehlerNick.3)+1,r256513 3690 A093 0000 sts (IntegralFehlerNick.3)+2,r266514 3694 B093 0000 sts (IntegralFehlerNick.3)+3,r276515 3698 2091 0000 lds r18,EE_Parameter+676516 369c E22E mov r14,r186517 369e FF24 clr r156518 36a0 0027 clr r166519 36a2 1127 clr r176520 36a4 BC01 movw r22,r246521 36a6 CD01 movw r24,r266522 36a8 A801 movw r20,r166523 36aa 9701 movw r18,r146524 36ac 0E94 0000 call __divmodsi46525 36b0 5901 movw r10,r186526 36b2 6A01 movw r12,r206527 36b4 2093 0000 sts ausgleichNick.10,r186528 36b8 3093 0000 sts (ausgleichNick.10)+1,r196529 36bc 4093 0000 sts (ausgleichNick.10)+2,r206530 36c0 5093 0000 sts (ausgleichNick.10)+3,r216531 36c4 8989 ldd r24,Y+176532 36c6 9A89 ldd r25,Y+186533 36c8 AB89 ldd r26,Y+196534 36ca BC89 ldd r27,Y+206535 36cc 8219 sub r24,r26536 36ce 9309 sbc r25,r36537 36d0 A409 sbc r26,r46538 36d2 B509 sbc r27,r56539 36d4 8093 0000 sts IntegralFehlerRoll.4,r246540 36d8 9093 0000 sts (IntegralFehlerRoll.4)+1,r256541 36dc A093 0000 sts (IntegralFehlerRoll.4)+2,r266542 36e0 B093 0000 sts (IntegralFehlerRoll.4)+3,r276543 36e4 BC01 movw r22,r246544 36e6 CD01 movw r24,r266545 36e8 A801 movw r20,r166546 36ea 9701 movw r18,r146547 36ec 0E94 0000 call __divmodsi46548 36f0 2093 0000 sts ausgleichRoll.11,r186549 36f4 3093 0000 sts (ausgleichRoll.11)+1,r196550 36f8 4093 0000 sts (ausgleichRoll.11)+2,r206551 36fc 5093 0000 sts (ausgleichRoll.11)+3,r216552 3700 D601 movw r26,r126553 3702 C501 movw r24,r106554 3704 D7FE sbrs r13,76555 3706 00C0 rjmp .L5366556 3708 8150 subi r24,lo8(-(255))6557 370a 9F4F sbci r25,hi8(-(255))6558 370c AF4F sbci r26,hlo8(-(255))6559 370e BF4F sbci r27,hhi8(-(255))6560 .L536:6561 3710 892F mov r24,r256562 3712 9A2F mov r25,r266563 3714 AB2F mov r26,r276564 3716 BB27 clr r276565 3718 A7FD sbrc r26,76566 371a BA95 dec r276567 371c 9093 0000 sts (LageKorrekturNick)+1,r256568 3720 8093 0000 sts LageKorrekturNick,r246569 3724 57FF sbrs r21,76570 3726 00C0 rjmp .L5376571 3728 2150 subi r18,lo8(-(255))6572 372a 3F4F sbci r19,hi8(-(255))6573 372c 4F4F sbci r20,hlo8(-(255))6574 372e 5F4F sbci r21,hhi8(-(255))6575 .L537:6576 3730 BB27 clr r276577 3732 57FD sbrc r21,76578 3734 BA95 dec r276579 3736 A52F mov r26,r216580 3738 942F mov r25,r206581 373a 832F mov r24,r196582 373c 9093 0000 sts (LageKorrekturRoll)+1,r256583 3740 8093 0000 sts LageKorrekturRoll,r246584 3744 8091 0000 lds r24,MaxStickNick6585 3748 9091 0000 lds r25,(MaxStickNick)+16586 374c 8134 cpi r24,656587 374e 9105 cpc r25,__zero_reg__6588 3750 04F4 brge .L5396589 3752 8091 0000 lds r24,MaxStickRoll6590 3756 9091 0000 lds r25,(MaxStickRoll)+16591 375a 8134 cpi r24,656592 375c 9105 cpc r25,__zero_reg__6593 375e 04F4 brge .L5396594 3760 8091 0000 lds r24,EE_Parameter+46595 3764 E82F mov r30,r246596 3766 FF27 clr r316597 3768 EE0F add r30,r306598 376a FF1F adc r31,r316599 376c E050 subi r30,lo8(-(PPM_in))6600 376e F040 sbci r31,hi8(-(PPM_in))6601 3770 8081 ld r24,Z6602 3772 9181 ldd r25,Z+16603 3774 0190 ld __tmp_reg__,Z+6604 3776 F081 ld r31,Z6605 3778 E02D mov r30,__tmp_reg__6606 377a F7FF sbrs r31,76607 377c 00C0 rjmp .L5406608 377e F095 com r316609 3780 E195 neg r306610 3782 FF4F sbci r31,lo8(-1)6611 .L540:6612 3784 7A97 sbiw r30,266613 3786 04F0 brlt .L5386614 .L539:6615 3788 8091 0000 lds r24,FromNaviCtrl_Value6616 378c 8F3F cpi r24,lo8(-1)6617 378e 01F4 brne .L5386618 3790 8091 0000 lds r24,LageKorrekturNick6619 3794 9091 0000 lds r25,(LageKorrekturNick)+16620 3798 97FD sbrc r25,76621 379a 0196 adiw r24,16622 .L541:6623 379c 9595 asr r256624 379e 8795 ror r246625 37a0 9093 0000 sts (LageKorrekturNick)+1,r256626 37a4 8093 0000 sts LageKorrekturNick,r246627 37a8 8091 0000 lds r24,LageKorrekturRoll6628 37ac 9091 0000 lds r25,(LageKorrekturRoll)+16629 37b0 97FD sbrc r25,76630 37b2 0196 adiw r24,16631 .L542:6632 37b4 9595 asr r256633 37b6 8795 ror r246634 37b8 9093 0000 sts (LageKorrekturRoll)+1,r256635 37bc 8093 0000 sts LageKorrekturRoll,r246636 .L538:6637 37c0 8091 0000 lds r24,MittelIntegralNick26638 37c4 9091 0000 lds r25,(MittelIntegralNick2)+16639 37c8 A091 0000 lds r26,(MittelIntegralNick2)+26640 37cc B091 0000 lds r27,(MittelIntegralNick2)+36641 37d0 B7FF sbrs r27,76642 37d2 00C0 rjmp .L5436643 37d4 8150 subi r24,lo8(-(255))6644 37d6 9F4F sbci r25,hi8(-(255))6645 37d8 AF4F sbci r26,hlo8(-(255))6646 37da BF4F sbci r27,hhi8(-(255))6647 .L543:6648 37dc 892F mov r24,r256649 37de 9A2F mov r25,r266650 37e0 AB2F mov r26,r276651 37e2 BB27 clr r276652 37e4 A7FD sbrc r26,76653 37e6 BA95 dec r276654 37e8 8093 0000 sts MittelIntegralNick2,r246655 37ec 9093 0000 sts (MittelIntegralNick2)+1,r256656 37f0 A093 0000 sts (MittelIntegralNick2)+2,r266657 37f4 B093 0000 sts (MittelIntegralNick2)+3,r276658 37f8 8091 0000 lds r24,MittelIntegralRoll26659 37fc 9091 0000 lds r25,(MittelIntegralRoll2)+16660 3800 A091 0000 lds r26,(MittelIntegralRoll2)+26661 3804 B091 0000 lds r27,(MittelIntegralRoll2)+36662 3808 B7FF sbrs r27,76663 380a 00C0 rjmp .L5446664 380c 8150 subi r24,lo8(-(255))6665 380e 9F4F sbci r25,hi8(-(255))6666 3810 AF4F sbci r26,hlo8(-(255))6667 3812 BF4F sbci r27,hhi8(-(255))6668 .L544:6669 3814 892F mov r24,r256670 3816 9A2F mov r25,r266671 3818 AB2F mov r26,r276672 381a BB27 clr r276673 381c A7FD sbrc r26,76674 381e BA95 dec r276675 3820 8093 0000 sts MittelIntegralRoll2,r246676 3824 9093 0000 sts (MittelIntegralRoll2)+1,r256677 3828 A093 0000 sts (MittelIntegralRoll2)+2,r266678 382c B093 0000 sts (MittelIntegralRoll2)+3,r276679 3830 8091 0000 lds r24,IntegralNick6680 3834 9091 0000 lds r25,(IntegralNick)+16681 3838 A091 0000 lds r26,(IntegralNick)+26682 383c B091 0000 lds r27,(IntegralNick)+36683 3840 2F81 ldd r18,Y+76684 3842 3885 ldd r19,Y+86685 3844 4985 ldd r20,Y+96686 3846 5A85 ldd r21,Y+106687 3848 281B sub r18,r246688 384a 390B sbc r19,r256689 384c 4A0B sbc r20,r266690 384e 5B0B sbc r21,r276691 3850 2093 0000 sts tmp_long.1,r186692 3854 3093 0000 sts (tmp_long.1)+1,r196693 3858 4093 0000 sts (tmp_long.1)+2,r206694 385c 5093 0000 sts (tmp_long.1)+3,r216695 3860 8091 0000 lds r24,IntegralRoll6696 3864 9091 0000 lds r25,(IntegralRoll)+16697 3868 A091 0000 lds r26,(IntegralRoll)+26698 386c B091 0000 lds r27,(IntegralRoll)+36699 3870 EB84 ldd r14,Y+116700 3872 FC84 ldd r15,Y+126701 3874 0D85 ldd r16,Y+136702 3876 1E85 ldd r17,Y+146703 3878 E81A sub r14,r246704 387a F90A sbc r15,r256705 387c 0A0B sbc r16,r266706 387e 1B0B sbc r17,r276707 3880 E092 0000 sts tmp_long2.2,r146708 3884 F092 0000 sts (tmp_long2.2)+1,r156709 3888 0093 0000 sts (tmp_long2.2)+2,r166710 388c 1093 0000 sts (tmp_long2.2)+3,r176711 3890 2093 0000 sts IntegralFehlerNick.3,r186712 3894 3093 0000 sts (IntegralFehlerNick.3)+1,r196713 3898 4093 0000 sts (IntegralFehlerNick.3)+2,r206714 389c 5093 0000 sts (IntegralFehlerNick.3)+3,r216715 38a0 E092 0000 sts IntegralFehlerRoll.4,r146716 38a4 F092 0000 sts (IntegralFehlerRoll.4)+1,r156717 38a8 0093 0000 sts (IntegralFehlerRoll.4)+2,r166718 38ac 1093 0000 sts (IntegralFehlerRoll.4)+3,r176719 38b0 8091 0000 lds r24,Mess_IntegralNick26720 38b4 9091 0000 lds r25,(Mess_IntegralNick2)+16721 38b8 A091 0000 lds r26,(Mess_IntegralNick2)+26722 38bc B091 0000 lds r27,(Mess_IntegralNick2)+36723 38c0 821B sub r24,r186724 38c2 930B sbc r25,r196725 38c4 A40B sbc r26,r206726 38c6 B50B sbc r27,r216727 38c8 8093 0000 sts Mess_IntegralNick2,r246728 38cc 9093 0000 sts (Mess_IntegralNick2)+1,r256729 38d0 A093 0000 sts (Mess_IntegralNick2)+2,r266730 38d4 B093 0000 sts (Mess_IntegralNick2)+3,r276731 38d8 8091 0000 lds r24,Mess_IntegralRoll26732 38dc 9091 0000 lds r25,(Mess_IntegralRoll2)+16733 38e0 A091 0000 lds r26,(Mess_IntegralRoll2)+26734 38e4 B091 0000 lds r27,(Mess_IntegralRoll2)+36735 38e8 8E19 sub r24,r146736 38ea 9F09 sbc r25,r156737 38ec A00B sbc r26,r166738 38ee B10B sbc r27,r176739 38f0 8093 0000 sts Mess_IntegralRoll2,r246740 38f4 9093 0000 sts (Mess_IntegralRoll2)+1,r256741 38f8 A093 0000 sts (Mess_IntegralRoll2)+2,r266742 38fc B093 0000 sts (Mess_IntegralRoll2)+3,r276743 3900 8889 ldd r24,Y+166744 3902 8823 tst r246745 3904 01F0 breq .L5456746 3906 2091 0000 lds r18,GierGyroFehler6747 390a 3091 0000 lds r19,(GierGyroFehler)+16748 390e 2138 cpi r18,1296749 3910 3105 cpc r19,__zero_reg__6750 3912 04F0 brlt .L5466751 3914 8091 0000 lds r24,AdNeutralGier6752 3918 9091 0000 lds r25,(AdNeutralGier)+16753 391c 0196 adiw r24,16754 391e 9093 0000 sts (AdNeutralGier)+1,r256755 3922 8093 0000 sts AdNeutralGier,r246756 .L546:6757 3926 2058 subi r18,lo8(-128)6758 3928 3F4F sbci r19,hi8(-128)6759 392a 04F4 brge .L5456760 392c 8091 0000 lds r24,AdNeutralGier6761 3930 9091 0000 lds r25,(AdNeutralGier)+16762 3934 0197 sbiw r24,16763 3936 9093 0000 sts (AdNeutralGier)+1,r256764 393a 8093 0000 sts AdNeutralGier,r246765 .L545:6766 393e 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6767 3942 1092 0000 sts GierGyroFehler,__zero_reg__6768 3946 81E0 ldi r24,lo8(1)6769 3948 90E0 ldi r25,hi8(1)6770 394a 9093 0000 sts (cnt.14)+1,r256771 394e 8093 0000 sts cnt.14,r246772 3952 E090 0000 lds r14,IntegralFehlerNick.36773 3956 F090 0000 lds r15,(IntegralFehlerNick.3)+16774 395a 0091 0000 lds r16,(IntegralFehlerNick.3)+26775 395e 1091 0000 lds r17,(IntegralFehlerNick.3)+36776 3962 D801 movw r26,r166777 3964 C701 movw r24,r146778 3966 17FF sbrs r17,76779 3968 00C0 rjmp .L5496780 396a 8827 clr r246781 396c 9927 clr r256782 396e DC01 movw r26,r246783 3970 8E19 sub r24,r146784 3972 9F09 sbc r25,r156785 3974 A00B sbc r26,r166786 3976 B10B sbc r27,r176787 .L549:6788 3978 8150 subi r24,lo8(513)6789 397a 9240 sbci r25,hi8(513)6790 397c A040 sbci r26,hlo8(513)6791 397e B040 sbci r27,hhi8(513)6792 3980 04F0 brlt .L5486793 3982 84E0 ldi r24,lo8(4)6794 3984 90E0 ldi r25,hi8(4)6795 3986 9093 0000 sts (cnt.14)+1,r256796 398a 8093 0000 sts cnt.14,r246797 .L548:6798 398e 8091 0000 lds r24,MittelIntegralNick_Alt.196799 3992 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16800 3996 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26801 399a B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36802 399e 2091 0000 lds r18,MittelIntegralNick6803 39a2 3091 0000 lds r19,(MittelIntegralNick)+16804 39a6 4091 0000 lds r20,(MittelIntegralNick)+26805 39aa 5091 0000 lds r21,(MittelIntegralNick)+36806 39ae 821B sub r24,r186807 39b0 930B sbc r25,r196808 39b2 A40B sbc r26,r206809 39b4 B50B sbc r27,r216810 39b6 815E subi r24,lo8(-(19999))6811 39b8 914B sbci r25,hi8(-(19999))6812 39ba AF4F sbci r26,hlo8(-(19999))6813 39bc BF4F sbci r27,hhi8(-(19999))6814 39be 8F53 subi r24,lo8(39999)6815 39c0 9C49 sbci r25,hi8(39999)6816 39c2 A040 sbci r26,hlo8(39999)6817 39c4 B040 sbci r27,hhi8(39999)6818 39c6 00F0 brlo .L5516819 39c8 8091 0000 lds r24,FromNaviCtrl_Value+16820 39cc 8931 cpi r24,lo8(25)6821 39ce 04F4 brge .+26822 39d0 00C0 rjmp .L5506823 .L551:6824 39d2 21E0 ldi r18,lo8(4097)6825 39d4 E216 cp r14,r186826 39d6 20E1 ldi r18,hi8(4097)6827 39d8 F206 cpc r15,r186828 39da 20E0 ldi r18,hlo8(4097)6829 39dc 0207 cpc r16,r186830 39de 20E0 ldi r18,hhi8(4097)6831 39e0 1207 cpc r17,r186832 39e2 04F4 brge .+26833 39e4 00C0 rjmp .L5526834 39e6 8091 0000 lds r24,last_n_p.156835 39ea 8823 tst r246836 39ec 01F4 brne .+26837 39ee 00C0 rjmp .L5536838 39f0 D801 movw r26,r166839 39f2 C701 movw r24,r146840 39f4 17FF sbrs r17,76841 39f6 00C0 rjmp .L5546842 39f8 8827 clr r246843 39fa 9927 clr r256844 39fc DC01 movw r26,r246845 39fe 8E19 sub r24,r146846 3a00 9F09 sbc r25,r156847 3a02 A00B sbc r26,r166848 3a04 B10B sbc r27,r176849 .L554:6850 3a06 9C01 movw r18,r246851 3a08 AD01 movw r20,r266852 3a0a B7FF sbrs r27,76853 3a0c 00C0 rjmp .L5556854 3a0e 2150 subi r18,lo8(-(511))6855 3a10 3E4F sbci r19,hi8(-(511))6856 3a12 4F4F sbci r20,hlo8(-(511))6857 3a14 5F4F sbci r21,hhi8(-(511))6858 .L555:6859 3a16 F9E0 ldi r31,96860 3a18 5595 1: asr r216861 3a1a 4795 ror r206862 3a1c 3795 ror r196863 3a1e 2795 ror r186864 3a20 FA95 dec r316865 3a22 01F4 brne 1b6866 3a24 8091 0000 lds r24,cnt.146867 3a28 9091 0000 lds r25,(cnt.14)+16868 3a2c 820F add r24,r186869 3a2e 931F adc r25,r196870 3a30 9093 0000 sts (cnt.14)+1,r256871 3a34 8093 0000 sts cnt.14,r246872 3a38 D801 movw r26,r166873 3a3a C701 movw r24,r146874 3a3c 17FF sbrs r17,76875 3a3e 00C0 rjmp .L5566876 3a40 0796 adiw r24,76877 3a42 A11D adc r26,__zero_reg__6878 3a44 B11D adc r27,__zero_reg__6879 .L556:6880 3a46 E3E0 ldi r30,36881 3a48 B595 1: asr r276882 3a4a A795 ror r266883 3a4c 9795 ror r256884 3a4e 8795 ror r246885 3a50 EA95 dec r306886 3a52 01F4 brne 1b6887 3a54 8093 0000 sts ausgleichNick.10,r246888 3a58 9093 0000 sts (ausgleichNick.10)+1,r256889 3a5c A093 0000 sts (ausgleichNick.10)+2,r266890 3a60 B093 0000 sts (ausgleichNick.10)+3,r276891 3a64 8958 subi r24,lo8(5001)6892 3a66 9341 sbci r25,hi8(5001)6893 3a68 A040 sbci r26,hlo8(5001)6894 3a6a B040 sbci r27,hhi8(5001)6895 3a6c 04F0 brlt .L5576896 3a6e 88E8 ldi r24,lo8(5000)6897 3a70 93E1 ldi r25,hi8(5000)6898 3a72 A0E0 ldi r26,hlo8(5000)6899 3a74 B0E0 ldi r27,hhi8(5000)6900 3a76 8093 0000 sts ausgleichNick.10,r246901 3a7a 9093 0000 sts (ausgleichNick.10)+1,r256902 3a7e A093 0000 sts (ausgleichNick.10)+2,r266903 3a82 B093 0000 sts (ausgleichNick.10)+3,r276904 .L557:6905 3a86 2091 0000 lds r18,ausgleichNick.106906 3a8a 3091 0000 lds r19,(ausgleichNick.10)+16907 3a8e 4091 0000 lds r20,(ausgleichNick.10)+26908 3a92 5091 0000 lds r21,(ausgleichNick.10)+36909 3a96 57FF sbrs r21,76910 3a98 00C0 rjmp .L5586911 3a9a 2150 subi r18,lo8(-(255))6912 3a9c 3F4F sbci r19,hi8(-(255))6913 3a9e 4F4F sbci r20,hlo8(-(255))6914 3aa0 5F4F sbci r21,hhi8(-(255))6915 .L558:6916 3aa2 232F mov r18,r196917 3aa4 342F mov r19,r206918 3aa6 452F mov r20,r216919 3aa8 5527 clr r216920 3aaa 47FD sbrc r20,76921 3aac 5A95 dec r216922 3aae 8091 0000 lds r24,LageKorrekturNick6923 3ab2 9091 0000 lds r25,(LageKorrekturNick)+16924 3ab6 820F add r24,r186925 3ab8 931F adc r25,r196926 3aba 9093 0000 sts (LageKorrekturNick)+1,r256927 3abe 8093 0000 sts LageKorrekturNick,r246928 3ac2 00C0 rjmp .L5606929 .L553:6930 3ac4 81E0 ldi r24,lo8(1)6931 3ac6 8093 0000 sts last_n_p.15,r246932 3aca 00C0 rjmp .L5606933 .L552:6934 3acc 1092 0000 sts last_n_p.15,__zero_reg__6935 .L560:6936 3ad0 40E0 ldi r20,lo8(-4096)6937 3ad2 E416 cp r14,r206938 3ad4 40EF ldi r20,hi8(-4096)6939 3ad6 F406 cpc r15,r206940 3ad8 4FEF ldi r20,hlo8(-4096)6941 3ada 0407 cpc r16,r206942 3adc 4FEF ldi r20,hhi8(-4096)6943 3ade 1407 cpc r17,r206944 3ae0 04F0 brlt .+26945 3ae2 00C0 rjmp .L5616946 3ae4 8091 0000 lds r24,last_n_n.166947 3ae8 8823 tst r246948 3aea 01F4 brne .+26949 3aec 00C0 rjmp .L5626950 3aee D801 movw r26,r166951 3af0 C701 movw r24,r146952 3af2 17FF sbrs r17,76953 3af4 00C0 rjmp .L5636954 3af6 8827 clr r246955 3af8 9927 clr r256956 3afa DC01 movw r26,r246957 3afc 8E19 sub r24,r146958 3afe 9F09 sbc r25,r156959 3b00 A00B sbc r26,r166960 3b02 B10B sbc r27,r176961 .L563:6962 3b04 9C01 movw r18,r246963 3b06 AD01 movw r20,r266964 3b08 B7FF sbrs r27,76965 3b0a 00C0 rjmp .L5646966 3b0c 2150 subi r18,lo8(-(511))6967 3b0e 3E4F sbci r19,hi8(-(511))6968 3b10 4F4F sbci r20,hlo8(-(511))6969 3b12 5F4F sbci r21,hhi8(-(511))6970 .L564:6971 3b14 69E0 ldi r22,96972 3b16 5595 1: asr r216973 3b18 4795 ror r206974 3b1a 3795 ror r196975 3b1c 2795 ror r186976 3b1e 6A95 dec r226977 3b20 01F4 brne 1b6978 3b22 8091 0000 lds r24,cnt.146979 3b26 9091 0000 lds r25,(cnt.14)+16980 3b2a 820F add r24,r186981 3b2c 931F adc r25,r196982 3b2e 9093 0000 sts (cnt.14)+1,r256983 3b32 8093 0000 sts cnt.14,r246984 3b36 D801 movw r26,r166985 3b38 C701 movw r24,r146986 3b3a 17FF sbrs r17,76987 3b3c 00C0 rjmp .L5656988 3b3e 0796 adiw r24,76989 3b40 A11D adc r26,__zero_reg__6990 3b42 B11D adc r27,__zero_reg__6991 .L565:6992 3b44 23E0 ldi r18,36993 3b46 B595 1: asr r276994 3b48 A795 ror r266995 3b4a 9795 ror r256996 3b4c 8795 ror r246997 3b4e 2A95 dec r186998 3b50 01F4 brne 1b6999 3b52 8093 0000 sts ausgleichNick.10,r247000 3b56 9093 0000 sts (ausgleichNick.10)+1,r257001 3b5a A093 0000 sts (ausgleichNick.10)+2,r267002 3b5e B093 0000 sts (ausgleichNick.10)+3,r277003 3b62 8857 subi r24,lo8(-5000)7004 3b64 9C4E sbci r25,hi8(-5000)7005 3b66 AF4F sbci r26,hlo8(-5000)7006 3b68 BF4F sbci r27,hhi8(-5000)7007 3b6a 04F4 brge .L5667008 3b6c 88E7 ldi r24,lo8(-5000)7009 3b6e 9CEE ldi r25,hi8(-5000)7010 3b70 AFEF ldi r26,hlo8(-5000)7011 3b72 BFEF ldi r27,hhi8(-5000)7012 3b74 8093 0000 sts ausgleichNick.10,r247013 3b78 9093 0000 sts (ausgleichNick.10)+1,r257014 3b7c A093 0000 sts (ausgleichNick.10)+2,r267015 3b80 B093 0000 sts (ausgleichNick.10)+3,r277016 .L566:7017 3b84 2091 0000 lds r18,ausgleichNick.107018 3b88 3091 0000 lds r19,(ausgleichNick.10)+17019 3b8c 4091 0000 lds r20,(ausgleichNick.10)+27020 3b90 5091 0000 lds r21,(ausgleichNick.10)+37021 3b94 57FF sbrs r21,77022 3b96 00C0 rjmp .L5677023 3b98 2150 subi r18,lo8(-(255))7024 3b9a 3F4F sbci r19,hi8(-(255))7025 3b9c 4F4F sbci r20,hlo8(-(255))7026 3b9e 5F4F sbci r21,hhi8(-(255))7027 .L567:7028 3ba0 232F mov r18,r197029 3ba2 342F mov r19,r207030 3ba4 452F mov r20,r217031 3ba6 5527 clr r217032 3ba8 47FD sbrc r20,77033 3baa 5A95 dec r217034 3bac 8091 0000 lds r24,LageKorrekturNick7035 3bb0 9091 0000 lds r25,(LageKorrekturNick)+17036 3bb4 820F add r24,r187037 3bb6 931F adc r25,r197038 3bb8 9093 0000 sts (LageKorrekturNick)+1,r257039 3bbc 8093 0000 sts LageKorrekturNick,r247040 3bc0 00C0 rjmp .L5707041 .L562:7042 3bc2 81E0 ldi r24,lo8(1)7043 3bc4 8093 0000 sts last_n_n.16,r247044 3bc8 00C0 rjmp .L5707045 .L561:7046 3bca 1092 0000 sts last_n_n.16,__zero_reg__7047 3bce 00C0 rjmp .L5707048 .L550:7049 3bd0 1092 0000 sts (cnt.14)+1,__zero_reg__7050 3bd4 1092 0000 sts cnt.14,__zero_reg__7051 3bd8 84E6 ldi r24,lo8(100)7052 3bda 90E0 ldi r25,hi8(100)7053 3bdc 9093 0000 sts (KompassSignalSchlecht)+1,r257054 3be0 8093 0000 sts KompassSignalSchlecht,r247055 .L570:7056 3be4 6889 ldd r22,Y+167057 3be6 262F mov r18,r227058 3be8 3327 clr r197059 3bea 8091 0000 lds r24,cnt.147060 3bee 9091 0000 lds r25,(cnt.14)+17061 3bf2 2817 cp r18,r247062 3bf4 3907 cpc r19,r257063 3bf6 04F4 brge .L5717064 3bf8 3093 0000 sts (cnt.14)+1,r197065 3bfc 2093 0000 sts cnt.14,r187066 .L571:7067 3c00 1091 0000 lds r17,FromNaviCtrl_Value+17068 3c04 1123 tst r177069 3c06 01F0 breq .L5727070 3c08 212F mov r18,r177071 3c0a 3327 clr r197072 3c0c 27FD sbrc r18,77073 3c0e 3095 com r197074 3c10 8091 0000 lds r24,cnt.147075 3c14 9091 0000 lds r25,(cnt.14)+17076 3c18 2817 cp r18,r247077 3c1a 3907 cpc r19,r257078 3c1c 04F4 brge .L5727079 3c1e 3093 0000 sts (cnt.14)+1,r197080 3c22 2093 0000 sts cnt.14,r187081 .L572:7082 3c26 4091 0000 lds r20,IntegralFehlerNick.37083 3c2a 5091 0000 lds r21,(IntegralFehlerNick.3)+17084 3c2e 6091 0000 lds r22,(IntegralFehlerNick.3)+27085 3c32 7091 0000 lds r23,(IntegralFehlerNick.3)+37086 3c36 4138 cpi r20,lo8(129)7087 3c38 5105 cpc r21,__zero_reg__7088 3c3a 6105 cpc r22,__zero_reg__7089 3c3c 7105 cpc r23,__zero_reg__7090 3c3e 04F0 brlt .L5747091 3c40 8091 0000 lds r24,AdNeutralNick7092 3c44 9091 0000 lds r25,(AdNeutralNick)+17093 3c48 2091 0000 lds r18,cnt.147094 3c4c 3091 0000 lds r19,(cnt.14)+17095 3c50 820F add r24,r187096 3c52 931F adc r25,r197097 3c54 9093 0000 sts (AdNeutralNick)+1,r257098 3c58 8093 0000 sts AdNeutralNick,r247099 .L574:7100 3c5c 4058 subi r20,lo8(-128)7101 3c5e 5F4F sbci r21,hi8(-128)7102 3c60 6F4F sbci r22,hlo8(-128)7103 3c62 7F4F sbci r23,hhi8(-128)7104 3c64 04F4 brge .L5757105 3c66 8091 0000 lds r24,AdNeutralNick7106 3c6a 9091 0000 lds r25,(AdNeutralNick)+17107 3c6e 2091 0000 lds r18,cnt.147108 3c72 3091 0000 lds r19,(cnt.14)+17109 3c76 821B sub r24,r187110 3c78 930B sbc r25,r197111 3c7a 9093 0000 sts (AdNeutralNick)+1,r257112 3c7e 8093 0000 sts AdNeutralNick,r247113 .L575:7114 3c82 81E0 ldi r24,lo8(1)7115 3c84 90E0 ldi r25,hi8(1)7116 3c86 9093 0000 sts (cnt.14)+1,r257117 3c8a 8093 0000 sts cnt.14,r247118 3c8e C090 0000 lds r12,IntegralFehlerRoll.47119 3c92 D090 0000 lds r13,(IntegralFehlerRoll.4)+17120 3c96 E090 0000 lds r14,(IntegralFehlerRoll.4)+27121 3c9a F090 0000 lds r15,(IntegralFehlerRoll.4)+37122 3c9e D701 movw r26,r147123 3ca0 C601 movw r24,r127124 3ca2 F7FE sbrs r15,77125 3ca4 00C0 rjmp .L5777126 3ca6 8827 clr r247127 3ca8 9927 clr r257128 3caa DC01 movw r26,r247129 3cac 8C19 sub r24,r127130 3cae 9D09 sbc r25,r137131 3cb0 AE09 sbc r26,r147132 3cb2 BF09 sbc r27,r157133 .L577:7134 3cb4 8150 subi r24,lo8(513)7135 3cb6 9240 sbci r25,hi8(513)7136 3cb8 A040 sbci r26,hlo8(513)7137 3cba B040 sbci r27,hhi8(513)7138 3cbc 04F0 brlt .L5767139 3cbe 84E0 ldi r24,lo8(4)7140 3cc0 90E0 ldi r25,hi8(4)7141 3cc2 9093 0000 sts (cnt.14)+1,r257142 3cc6 8093 0000 sts cnt.14,r247143 .L576:7144 3cca 8091 0000 lds r24,MittelIntegralRoll_Alt.207145 3cce 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17146 3cd2 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27147 3cd6 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37148 3cda 2091 0000 lds r18,MittelIntegralRoll7149 3cde 3091 0000 lds r19,(MittelIntegralRoll)+17150 3ce2 4091 0000 lds r20,(MittelIntegralRoll)+27151 3ce6 5091 0000 lds r21,(MittelIntegralRoll)+37152 3cea 821B sub r24,r187153 3cec 930B sbc r25,r197154 3cee A40B sbc r26,r207155 3cf0 B50B sbc r27,r217156 3cf2 815E subi r24,lo8(-(19999))7157 3cf4 914B sbci r25,hi8(-(19999))7158 3cf6 AF4F sbci r26,hlo8(-(19999))7159 3cf8 BF4F sbci r27,hhi8(-(19999))7160 3cfa 8F53 subi r24,lo8(39999)7161 3cfc 9C49 sbci r25,hi8(39999)7162 3cfe A040 sbci r26,hlo8(39999)7163 3d00 B040 sbci r27,hhi8(39999)7164 3d02 00F0 brlo .L5797165 3d04 1931 cpi r17,lo8(25)7166 3d06 04F4 brge .+27167 3d08 00C0 rjmp .L5787168 .L579:7169 3d0a 01E0 ldi r16,lo8(4097)7170 3d0c C016 cp r12,r167171 3d0e 00E1 ldi r16,hi8(4097)7172 3d10 D006 cpc r13,r167173 3d12 00E0 ldi r16,hlo8(4097)7174 3d14 E006 cpc r14,r167175 3d16 00E0 ldi r16,hhi8(4097)7176 3d18 F006 cpc r15,r167177 3d1a 04F4 brge .+27178 3d1c 00C0 rjmp .L5807179 3d1e 8091 0000 lds r24,last_r_p.177180 3d22 8823 tst r247181 3d24 01F4 brne .+27182 3d26 00C0 rjmp .L5817183 3d28 D701 movw r26,r147184 3d2a C601 movw r24,r127185 3d2c F7FE sbrs r15,77186 3d2e 00C0 rjmp .L5827187 3d30 8827 clr r247188 3d32 9927 clr r257189 3d34 DC01 movw r26,r247190 3d36 8C19 sub r24,r127191 3d38 9D09 sbc r25,r137192 3d3a AE09 sbc r26,r147193 3d3c BF09 sbc r27,r157194 .L582:7195 3d3e 9C01 movw r18,r247196 3d40 AD01 movw r20,r267197 3d42 B7FF sbrs r27,77198 3d44 00C0 rjmp .L5837199 3d46 2150 subi r18,lo8(-(511))7200 3d48 3E4F sbci r19,hi8(-(511))7201 3d4a 4F4F sbci r20,hlo8(-(511))7202 3d4c 5F4F sbci r21,hhi8(-(511))7203 .L583:7204 3d4e 09E0 ldi r16,97205 3d50 5595 1: asr r217206 3d52 4795 ror r207207 3d54 3795 ror r197208 3d56 2795 ror r187209 3d58 0A95 dec r167210 3d5a 01F4 brne 1b7211 3d5c 8091 0000 lds r24,cnt.147212 3d60 9091 0000 lds r25,(cnt.14)+17213 3d64 820F add r24,r187214 3d66 931F adc r25,r197215 3d68 9093 0000 sts (cnt.14)+1,r257216 3d6c 8093 0000 sts cnt.14,r247217 3d70 D701 movw r26,r147218 3d72 C601 movw r24,r127219 3d74 F7FE sbrs r15,77220 3d76 00C0 rjmp .L5847221 3d78 0796 adiw r24,77222 3d7a A11D adc r26,__zero_reg__7223 3d7c B11D adc r27,__zero_reg__7224 .L584:7225 3d7e 13E0 ldi r17,37226 3d80 B595 1: asr r277227 3d82 A795 ror r267228 3d84 9795 ror r257229 3d86 8795 ror r247230 3d88 1A95 dec r177231 3d8a 01F4 brne 1b7232 3d8c 8093 0000 sts ausgleichRoll.11,r247233 3d90 9093 0000 sts (ausgleichRoll.11)+1,r257234 3d94 A093 0000 sts (ausgleichRoll.11)+2,r267235 3d98 B093 0000 sts (ausgleichRoll.11)+3,r277236 3d9c 8958 subi r24,lo8(5001)7237 3d9e 9341 sbci r25,hi8(5001)7238 3da0 A040 sbci r26,hlo8(5001)7239 3da2 B040 sbci r27,hhi8(5001)7240 3da4 04F0 brlt .L5857241 3da6 88E8 ldi r24,lo8(5000)7242 3da8 93E1 ldi r25,hi8(5000)7243 3daa A0E0 ldi r26,hlo8(5000)7244 3dac B0E0 ldi r27,hhi8(5000)7245 3dae 8093 0000 sts ausgleichRoll.11,r247246 3db2 9093 0000 sts (ausgleichRoll.11)+1,r257247 3db6 A093 0000 sts (ausgleichRoll.11)+2,r267248 3dba B093 0000 sts (ausgleichRoll.11)+3,r277249 .L585:7250 3dbe 2091 0000 lds r18,ausgleichRoll.117251 3dc2 3091 0000 lds r19,(ausgleichRoll.11)+17252 3dc6 4091 0000 lds r20,(ausgleichRoll.11)+27253 3dca 5091 0000 lds r21,(ausgleichRoll.11)+37254 3dce 57FF sbrs r21,77255 3dd0 00C0 rjmp .L5867256 3dd2 2150 subi r18,lo8(-(255))7257 3dd4 3F4F sbci r19,hi8(-(255))7258 3dd6 4F4F sbci r20,hlo8(-(255))7259 3dd8 5F4F sbci r21,hhi8(-(255))7260 .L586:7261 3dda 232F mov r18,r197262 3ddc 342F mov r19,r207263 3dde 452F mov r20,r217264 3de0 5527 clr r217265 3de2 47FD sbrc r20,77266 3de4 5A95 dec r217267 3de6 8091 0000 lds r24,LageKorrekturRoll7268 3dea 9091 0000 lds r25,(LageKorrekturRoll)+17269 3dee 820F add r24,r187270 3df0 931F adc r25,r197271 3df2 9093 0000 sts (LageKorrekturRoll)+1,r257272 3df6 8093 0000 sts LageKorrekturRoll,r247273 3dfa 00C0 rjmp .L5887274 .L581:7275 3dfc 81E0 ldi r24,lo8(1)7276 3dfe 8093 0000 sts last_r_p.17,r247277 3e02 00C0 rjmp .L5887278 .L580:7279 3e04 1092 0000 sts last_r_p.17,__zero_reg__7280 .L588:7281 3e08 20E0 ldi r18,lo8(-4096)7282 3e0a C216 cp r12,r187283 3e0c 20EF ldi r18,hi8(-4096)7284 3e0e D206 cpc r13,r187285 3e10 2FEF ldi r18,hlo8(-4096)7286 3e12 E206 cpc r14,r187287 3e14 2FEF ldi r18,hhi8(-4096)7288 3e16 F206 cpc r15,r187289 3e18 04F0 brlt .+27290 3e1a 00C0 rjmp .L5897291 3e1c 8091 0000 lds r24,last_r_n.187292 3e20 8823 tst r247293 3e22 01F4 brne .+27294 3e24 00C0 rjmp .L5907295 3e26 D701 movw r26,r147296 3e28 C601 movw r24,r127297 3e2a F7FE sbrs r15,77298 3e2c 00C0 rjmp .L5917299 3e2e 8827 clr r247300 3e30 9927 clr r257301 3e32 DC01 movw r26,r247302 3e34 8C19 sub r24,r127303 3e36 9D09 sbc r25,r137304 3e38 AE09 sbc r26,r147305 3e3a BF09 sbc r27,r157306 .L591:7307 3e3c 9C01 movw r18,r247308 3e3e AD01 movw r20,r267309 3e40 B7FF sbrs r27,77310 3e42 00C0 rjmp .L5927311 3e44 2150 subi r18,lo8(-(511))7312 3e46 3E4F sbci r19,hi8(-(511))7313 3e48 4F4F sbci r20,hlo8(-(511))7314 3e4a 5F4F sbci r21,hhi8(-(511))7315 .L592:7316 3e4c E9E0 ldi r30,97317 3e4e 5595 1: asr r217318 3e50 4795 ror r207319 3e52 3795 ror r197320 3e54 2795 ror r187321 3e56 EA95 dec r307322 3e58 01F4 brne 1b7323 3e5a 8091 0000 lds r24,cnt.147324 3e5e 9091 0000 lds r25,(cnt.14)+17325 3e62 820F add r24,r187326 3e64 931F adc r25,r197327 3e66 9093 0000 sts (cnt.14)+1,r257328 3e6a 8093 0000 sts cnt.14,r247329 3e6e D701 movw r26,r147330 3e70 C601 movw r24,r127331 3e72 F7FE sbrs r15,77332 3e74 00C0 rjmp .L5937333 3e76 0796 adiw r24,77334 3e78 A11D adc r26,__zero_reg__7335 3e7a B11D adc r27,__zero_reg__7336 .L593:7337 3e7c 73E0 ldi r23,37338 3e7e B595 1: asr r277339 3e80 A795 ror r267340 3e82 9795 ror r257341 3e84 8795 ror r247342 3e86 7A95 dec r237343 3e88 01F4 brne 1b7344 3e8a 8093 0000 sts ausgleichRoll.11,r247345 3e8e 9093 0000 sts (ausgleichRoll.11)+1,r257346 3e92 A093 0000 sts (ausgleichRoll.11)+2,r267347 3e96 B093 0000 sts (ausgleichRoll.11)+3,r277348 3e9a 8857 subi r24,lo8(-5000)7349 3e9c 9C4E sbci r25,hi8(-5000)7350 3e9e AF4F sbci r26,hlo8(-5000)7351 3ea0 BF4F sbci r27,hhi8(-5000)7352 3ea2 04F4 brge .L5947353 3ea4 88E7 ldi r24,lo8(-5000)7354 3ea6 9CEE ldi r25,hi8(-5000)7355 3ea8 AFEF ldi r26,hlo8(-5000)7356 3eaa BFEF ldi r27,hhi8(-5000)7357 3eac 8093 0000 sts ausgleichRoll.11,r247358 3eb0 9093 0000 sts (ausgleichRoll.11)+1,r257359 3eb4 A093 0000 sts (ausgleichRoll.11)+2,r267360 3eb8 B093 0000 sts (ausgleichRoll.11)+3,r277361 .L594:7362 3ebc 2091 0000 lds r18,ausgleichRoll.117363 3ec0 3091 0000 lds r19,(ausgleichRoll.11)+17364 3ec4 4091 0000 lds r20,(ausgleichRoll.11)+27365 3ec8 5091 0000 lds r21,(ausgleichRoll.11)+37366 3ecc 57FF sbrs r21,77367 3ece 00C0 rjmp .L5957368 3ed0 2150 subi r18,lo8(-(255))7369 3ed2 3F4F sbci r19,hi8(-(255))7370 3ed4 4F4F sbci r20,hlo8(-(255))7371 3ed6 5F4F sbci r21,hhi8(-(255))7372 .L595:7373 3ed8 232F mov r18,r197374 3eda 342F mov r19,r207375 3edc 452F mov r20,r217376 3ede 5527 clr r217377 3ee0 47FD sbrc r20,77378 3ee2 5A95 dec r217379 3ee4 8091 0000 lds r24,LageKorrekturRoll7380 3ee8 9091 0000 lds r25,(LageKorrekturRoll)+17381 3eec 820F add r24,r187382 3eee 931F adc r25,r197383 3ef0 9093 0000 sts (LageKorrekturRoll)+1,r257384 3ef4 8093 0000 sts LageKorrekturRoll,r247385 3ef8 00C0 rjmp .L5987386 .L590:7387 3efa 81E0 ldi r24,lo8(1)7388 3efc 8093 0000 sts last_r_n.18,r247389 3f00 00C0 rjmp .L5987390 .L589:7391 3f02 1092 0000 sts last_r_n.18,__zero_reg__7392 3f06 00C0 rjmp .L5987393 .L578:7394 3f08 1092 0000 sts (cnt.14)+1,__zero_reg__7395 3f0c 1092 0000 sts cnt.14,__zero_reg__7396 3f10 84E6 ldi r24,lo8(100)7397 3f12 90E0 ldi r25,hi8(100)7398 3f14 9093 0000 sts (KompassSignalSchlecht)+1,r257399 3f18 8093 0000 sts KompassSignalSchlecht,r247400 .L598:7401 3f1c 4889 ldd r20,Y+167402 3f1e 242F mov r18,r207403 3f20 3327 clr r197404 3f22 8091 0000 lds r24,cnt.147405 3f26 9091 0000 lds r25,(cnt.14)+17406 3f2a 2817 cp r18,r247407 3f2c 3907 cpc r19,r257408 3f2e 04F4 brge .L5997409 3f30 3093 0000 sts (cnt.14)+1,r197410 3f34 2093 0000 sts cnt.14,r187411 .L599:7412 3f38 8091 0000 lds r24,FromNaviCtrl_Value+17413 3f3c 8823 tst r247414 3f3e 01F0 breq .L6007415 3f40 282F mov r18,r247416 3f42 3327 clr r197417 3f44 27FD sbrc r18,77418 3f46 3095 com r197419 3f48 8091 0000 lds r24,cnt.147420 3f4c 9091 0000 lds r25,(cnt.14)+17421 3f50 2817 cp r18,r247422 3f52 3907 cpc r19,r257423 3f54 04F4 brge .L6007424 3f56 3093 0000 sts (cnt.14)+1,r197425 3f5a 2093 0000 sts cnt.14,r187426 .L600:7427 3f5e 4091 0000 lds r20,IntegralFehlerRoll.47428 3f62 5091 0000 lds r21,(IntegralFehlerRoll.4)+17429 3f66 6091 0000 lds r22,(IntegralFehlerRoll.4)+27430 3f6a 7091 0000 lds r23,(IntegralFehlerRoll.4)+37431 3f6e 4138 cpi r20,lo8(129)7432 3f70 5105 cpc r21,__zero_reg__7433 3f72 6105 cpc r22,__zero_reg__7434 3f74 7105 cpc r23,__zero_reg__7435 3f76 04F0 brlt .L6027436 3f78 8091 0000 lds r24,AdNeutralRoll7437 3f7c 9091 0000 lds r25,(AdNeutralRoll)+17438 3f80 2091 0000 lds r18,cnt.147439 3f84 3091 0000 lds r19,(cnt.14)+17440 3f88 820F add r24,r187441 3f8a 931F adc r25,r197442 3f8c 9093 0000 sts (AdNeutralRoll)+1,r257443 3f90 8093 0000 sts AdNeutralRoll,r247444 .L602:7445 3f94 4058 subi r20,lo8(-128)7446 3f96 5F4F sbci r21,hi8(-128)7447 3f98 6F4F sbci r22,hlo8(-128)7448 3f9a 7F4F sbci r23,hhi8(-128)7449 3f9c 04F4 brge .L6047450 3f9e 8091 0000 lds r24,AdNeutralRoll7451 3fa2 9091 0000 lds r25,(AdNeutralRoll)+17452 3fa6 2091 0000 lds r18,cnt.147453 3faa 3091 0000 lds r19,(cnt.14)+17454 3fae 821B sub r24,r187455 3fb0 930B sbc r25,r197456 3fb2 9093 0000 sts (AdNeutralRoll)+1,r257457 3fb6 8093 0000 sts AdNeutralRoll,r247458 3fba 00C0 rjmp .L6047459 .L530:7460 3fbc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7461 3fc0 1092 0000 sts LageKorrekturRoll,__zero_reg__7462 3fc4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7463 3fc8 1092 0000 sts LageKorrekturNick,__zero_reg__7464 3fcc 1092 0000 sts TrichterFlug,__zero_reg__7465 .L604:7466 3fd0 8091 0000 lds r24,IntegralFaktor7467 3fd4 8823 tst r247468 3fd6 01F4 brne .L6057469 3fd8 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7470 3fdc 1092 0000 sts LageKorrekturRoll,__zero_reg__7471 3fe0 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7472 3fe4 1092 0000 sts LageKorrekturNick,__zero_reg__7473 .L605:7474 3fe8 8091 0000 lds r24,MittelIntegralNick7475 3fec 9091 0000 lds r25,(MittelIntegralNick)+17476 3ff0 A091 0000 lds r26,(MittelIntegralNick)+27477 3ff4 B091 0000 lds r27,(MittelIntegralNick)+37478 3ff8 8093 0000 sts MittelIntegralNick_Alt.19,r247479 3ffc 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257480 4000 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267481 4004 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277482 4008 8091 0000 lds r24,MittelIntegralRoll7483 400c 9091 0000 lds r25,(MittelIntegralRoll)+17484 4010 A091 0000 lds r26,(MittelIntegralRoll)+27485 4014 B091 0000 lds r27,(MittelIntegralRoll)+37486 4018 8093 0000 sts MittelIntegralRoll_Alt.20,r247487 401c 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257488 4020 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267489 4024 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277490 4028 1092 0000 sts IntegralAccNick,__zero_reg__7491 402c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7492 4030 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7493 4034 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7494 4038 1092 0000 sts IntegralAccRoll,__zero_reg__7495 403c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7496 4040 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7497 4044 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7498 4048 1092 0000 sts IntegralAccZ,__zero_reg__7499 404c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7500 4050 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7501 4054 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7502 4058 1092 0000 sts MittelIntegralNick,__zero_reg__7503 405c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7504 4060 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7505 4064 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7506 4068 1092 0000 sts MittelIntegralRoll,__zero_reg__7507 406c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7508 4070 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7509 4074 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7510 4078 1092 0000 sts MittelIntegralNick2,__zero_reg__7511 407c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7512 4080 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7513 4084 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7514 4088 1092 0000 sts MittelIntegralRoll2,__zero_reg__7515 408c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7516 4090 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7517 4094 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7518 4098 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7519 409c 1092 0000 sts ZaehlMessungen,__zero_reg__7520 .L529:7521 40a0 E090 0000 lds r14,StickGier7522 40a4 F090 0000 lds r15,(StickGier)+17523 40a8 C701 movw r24,r147524 40aa F7FE sbrs r15,77525 40ac 00C0 rjmp .L6077526 40ae 8827 clr r247527 40b0 9927 clr r257528 40b2 8E19 sub r24,r147529 40b4 9F09 sbc r25,r157530 .L607:7531 40b6 0497 sbiw r24,47532 40b8 04F0 brlt .L6067533 40ba 8091 0000 lds r24,Parameter_GlobalConfig7534 40be 84FD sbrc r24,47535 40c0 00C0 rjmp .L6067536 40c2 82E3 ldi r24,lo8(50)7537 40c4 8093 0000 sts NeueKompassRichtungMerken,r247538 .L606:7539 40c8 1091 0000 lds r17,EE_Parameter+257540 40cc A12E mov r10,r177541 40ce BB24 clr r117542 40d0 CC24 clr r127543 40d2 DD24 clr r137544 40d4 B701 movw r22,r147545 40d6 8827 clr r247546 40d8 77FD sbrc r23,77547 40da 8095 com r247548 40dc 982F mov r25,r247549 40de 9701 movw r18,r147550 40e0 F7FE sbrs r15,77551 40e2 00C0 rjmp .L6097552 40e4 2227 clr r187553 40e6 3327 clr r197554 40e8 2E19 sub r18,r147555 40ea 3F09 sbc r19,r157556 .L609:7557 40ec 4427 clr r207558 40ee 37FD sbrc r19,77559 40f0 4095 com r207560 40f2 542F mov r21,r207561 40f4 0E94 0000 call __mulsi37562 40f8 9B01 movw r18,r227563 40fa AC01 movw r20,r247564 40fc C601 movw r24,r127565 40fe B501 movw r22,r107566 4100 0E94 0000 call __mulsi37567 4104 97FF sbrs r25,77568 4106 00C0 rjmp .L6107569 4108 6150 subi r22,lo8(-(511))7570 410a 7E4F sbci r23,hi8(-(511))7571 410c 8F4F sbci r24,hlo8(-(511))7572 410e 9F4F sbci r25,hhi8(-(511))7573 .L610:7574 4110 59E0 ldi r21,97575 4112 9595 1: asr r257576 4114 8795 ror r247577 4116 7795 ror r237578 4118 6795 ror r227579 411a 5A95 dec r217580 411c 01F4 brne 1b7581 411e 9B01 movw r18,r227582 4120 812F mov r24,r177583 4122 9927 clr r257584 4124 8E9D mul r24,r147585 4126 D001 movw r26,r07586 4128 8F9D mul r24,r157587 412a B00D add r27,r07588 412c 9E9D mul r25,r147589 412e B00D add r27,r07590 4130 1124 clr r17591 4132 CD01 movw r24,r267592 4134 B7FD sbrc r27,77593 4136 0396 adiw r24,37594 .L611:7595 4138 9595 asr r257596 413a 8795 ror r247597 413c 9595 asr r257598 413e 8795 ror r247599 4140 280F add r18,r247600 4142 391F adc r19,r257601 4144 8091 0000 lds r24,CompassGierSetpoint7602 4148 9091 0000 lds r25,(CompassGierSetpoint)+17603 414c 280F add r18,r247604 414e 391F adc r19,r257605 4150 4427 clr r207606 4152 37FD sbrc r19,77607 4154 4095 com r207608 4156 542F mov r21,r207609 4158 2093 0000 sts sollGier.0,r187610 415c 3093 0000 sts (sollGier.0)+1,r197611 4160 4093 0000 sts (sollGier.0)+2,r207612 4164 5093 0000 sts (sollGier.0)+3,r217613 4168 8091 0000 lds r24,Mess_Integral_Gier7614 416c 9091 0000 lds r25,(Mess_Integral_Gier)+17615 4170 A091 0000 lds r26,(Mess_Integral_Gier)+27616 4174 B091 0000 lds r27,(Mess_Integral_Gier)+37617 4178 821B sub r24,r187618 417a 930B sbc r25,r197619 417c A40B sbc r26,r207620 417e B50B sbc r27,r217621 4180 8093 0000 sts Mess_Integral_Gier,r247622 4184 9093 0000 sts (Mess_Integral_Gier)+1,r257623 4188 A093 0000 sts (Mess_Integral_Gier)+2,r267624 418c B093 0000 sts (Mess_Integral_Gier)+3,r277625 4190 8155 subi r24,lo8(50001)7626 4192 934C sbci r25,hi8(50001)7627 4194 A040 sbci r26,hlo8(50001)7628 4196 B040 sbci r27,hhi8(50001)7629 4198 04F0 brlt .L6127630 419a 80E5 ldi r24,lo8(50000)7631 419c 93EC ldi r25,hi8(50000)7632 419e A0E0 ldi r26,hlo8(50000)7633 41a0 B0E0 ldi r27,hhi8(50000)7634 41a2 8093 0000 sts Mess_Integral_Gier,r247635 41a6 9093 0000 sts (Mess_Integral_Gier)+1,r257636 41aa A093 0000 sts (Mess_Integral_Gier)+2,r267637 41ae B093 0000 sts (Mess_Integral_Gier)+3,r277638 .L612:7639 41b2 8091 0000 lds r24,Mess_Integral_Gier7640 41b6 9091 0000 lds r25,(Mess_Integral_Gier)+17641 41ba A091 0000 lds r26,(Mess_Integral_Gier)+27642 41be B091 0000 lds r27,(Mess_Integral_Gier)+37643 41c2 805B subi r24,lo8(-50000)7644 41c4 9C43 sbci r25,hi8(-50000)7645 41c6 AF4F sbci r26,hlo8(-50000)7646 41c8 BF4F sbci r27,hhi8(-50000)7647 41ca 04F4 brge .L6137648 41cc 80EB ldi r24,lo8(-50000)7649 41ce 9CE3 ldi r25,hi8(-50000)7650 41d0 AFEF ldi r26,hlo8(-50000)7651 41d2 BFEF ldi r27,hhi8(-50000)7652 41d4 8093 0000 sts Mess_Integral_Gier,r247653 41d8 9093 0000 sts (Mess_Integral_Gier)+1,r257654 41dc A093 0000 sts (Mess_Integral_Gier)+2,r267655 41e0 B093 0000 sts (Mess_Integral_Gier)+3,r277656 .L613:7657 41e4 0091 0000 lds r16,KompassValue7658 41e8 1091 0000 lds r17,(KompassValue)+17659 41ec 17FD sbrc r17,77660 41ee 00C0 rjmp .L6147661 41f0 8091 0000 lds r24,Parameter_GlobalConfig7662 41f4 83FF sbrs r24,37663 41f6 00C0 rjmp .L6147664 41f8 8091 0000 lds r24,CalculateCompassTimer7665 41fc 8150 subi r24,lo8(-(-1))7666 41fe 8093 0000 sts CalculateCompassTimer,r247667 4202 8823 tst r247668 4204 01F0 breq .+27669 4206 00C0 rjmp .L6317670 4208 8DE0 ldi r24,lo8(13)7671 420a 8093 0000 sts CalculateCompassTimer,r247672 420e 8091 0000 lds r24,IntegralNick7673 4212 9091 0000 lds r25,(IntegralNick)+17674 4216 A091 0000 lds r26,(IntegralNick)+27675 421a B091 0000 lds r27,(IntegralNick)+37676 421e B7FF sbrs r27,77677 4220 00C0 rjmp .L6167678 4222 8150 subi r24,lo8(-(511))7679 4224 9E4F sbci r25,hi8(-(511))7680 4226 AF4F sbci r26,hlo8(-(511))7681 4228 BF4F sbci r27,hhi8(-(511))7682 .L616:7683 422a 39E0 ldi r19,97684 422c B595 1: asr r277685 422e A795 ror r267686 4230 9795 ror r257687 4232 8795 ror r247688 4234 3A95 dec r197689 4236 01F4 brne 1b7690 4238 7C01 movw r14,r247691 423a 97FF sbrs r25,77692 423c 00C0 rjmp .L6177693 423e F094 com r157694 4240 E194 neg r147695 4242 F108 sbc r15,__zero_reg__7696 4244 F394 inc r157697 .L617:7698 4246 8091 0000 lds r24,IntegralRoll7699 424a 9091 0000 lds r25,(IntegralRoll)+17700 424e A091 0000 lds r26,(IntegralRoll)+27701 4252 B091 0000 lds r27,(IntegralRoll)+37702 4256 B7FF sbrs r27,77703 4258 00C0 rjmp .L6187704 425a 8150 subi r24,lo8(-(511))7705 425c 9E4F sbci r25,hi8(-(511))7706 425e AF4F sbci r26,hlo8(-(511))7707 4260 BF4F sbci r27,hhi8(-(511))7708 .L618:7709 4262 29E0 ldi r18,97710 4264 B595 1: asr r277711 4266 A795 ror r267712 4268 9795 ror r257713 426a 8795 ror r247714 426c 2A95 dec r187715 426e 01F4 brne 1b7716 4270 9C01 movw r18,r247717 4272 97FF sbrs r25,77718 4274 00C0 rjmp .L6197719 4276 3095 com r197720 4278 2195 neg r187721 427a 3F4F sbci r19,lo8(-1)7722 .L619:7723 427c E216 cp r14,r187724 427e F306 cpc r15,r197725 4280 04F4 brge .L6207726 4282 7901 movw r14,r187727 .L620:7728 4284 B701 movw r22,r147729 4286 F7FE sbrs r15,77730 4288 00C0 rjmp .L6217731 428a 695F subi r22,lo8(-(7))7732 428c 7F4F sbci r23,hi8(-(7))7733 .L621:7734 428e 2B01 movw r4,r227735 4290 A3E0 ldi r26,37736 4292 5594 1: asr r57737 4294 4794 ror r47738 4296 AA95 dec r267739 4298 01F4 brne 1b7740 429a 22E0 ldi r18,lo8(2)7741 429c 30E0 ldi r19,hi8(2)7742 429e 420E add r4,r187743 42a0 531E adc r5,r197744 42a2 6090 0000 lds r6,ErsatzKompass7745 42a6 7090 0000 lds r7,(ErsatzKompass)+17746 42aa 8090 0000 lds r8,(ErsatzKompass)+27747 42ae 9090 0000 lds r9,(ErsatzKompass)+37748 42b2 2091 0000 lds r18,GIER_GRAD_FAKTOR7749 42b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17750 42ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27751 42be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37752 42c2 C401 movw r24,r87753 42c4 B301 movw r22,r67754 42c6 0E94 0000 call __divmodsi47755 42ca 5901 movw r10,r187756 42cc 6A01 movw r12,r207757 42ce 3093 0000 sts (ErsatzKompassInGrad)+1,r197758 42d2 2093 0000 sts ErsatzKompassInGrad,r187759 42d6 021B sub r16,r187760 42d8 130B sbc r17,r197761 42da C801 movw r24,r167762 42dc 845E subi r24,lo8(-(540))7763 42de 9D4F sbci r25,hi8(-(540))7764 42e0 68E6 ldi r22,lo8(360)7765 42e2 71E0 ldi r23,hi8(360)7766 42e4 0E94 0000 call __divmodhi47767 42e8 9C01 movw r18,r247768 42ea 245B subi r18,lo8(-(-180))7769 42ec 3040 sbci r19,hi8(-(-180))7770 42ee 8091 0000 lds r24,KompassSignalSchlecht7771 42f2 9091 0000 lds r25,(KompassSignalSchlecht)+17772 42f6 0097 sbiw r24,07773 42f8 01F0 breq .L6227774 42fa 0197 sbiw r24,17775 42fc 9093 0000 sts (KompassSignalSchlecht)+1,r257776 4300 8093 0000 sts KompassSignalSchlecht,r247777 4304 00C0 rjmp .L6237778 .L622:7779 4306 49E1 ldi r20,lo8(25)7780 4308 E416 cp r14,r207781 430a F104 cpc r15,__zero_reg__7782 430c 04F4 brge .L6237783 430e 8091 0000 lds r24,GierGyroFehler7784 4312 9091 0000 lds r25,(GierGyroFehler)+17785 4316 820F add r24,r187786 4318 931F adc r25,r197787 431a 9093 0000 sts (GierGyroFehler)+1,r257788 431e 8093 0000 sts GierGyroFehler,r247789 4322 8091 0000 lds r24,NeueKompassRichtungMerken7790 4326 8823 tst r247791 4328 01F0 breq .L6237792 432a 8150 subi r24,lo8(-(-1))7793 432c 8093 0000 sts NeueKompassRichtungMerken,r247794 4330 8823 tst r247795 4332 01F4 brne .L6237796 4334 B092 0000 sts (KompassSollWert)+1,r117797 4338 A092 0000 sts KompassSollWert,r107798 .L623:7799 433c 8091 0000 lds r24,KompassSignalSchlecht7800 4340 9091 0000 lds r25,(KompassSignalSchlecht)+17801 4344 892B or r24,r257802 4346 01F4 brne .L6277803 4348 8091 0000 lds r24,KompassFusion7804 434c 9927 clr r257805 434e 289F mul r18,r247806 4350 B001 movw r22,r07807 4352 299F mul r18,r257808 4354 700D add r23,r07809 4356 389F mul r19,r247810 4358 700D add r23,r07811 435a 1124 clr r17812 435c CB01 movw r24,r227813 435e B201 movw r22,r47814 4360 0E94 0000 call __divmodhi47815 4364 CB01 movw r24,r227816 4366 AA27 clr r267817 4368 97FD sbrc r25,77818 436a A095 com r267819 436c BA2F mov r27,r267820 436e 680E add r6,r247821 4370 791E adc r7,r257822 4372 8A1E adc r8,r267823 4374 9B1E adc r9,r277824 4376 6092 0000 sts ErsatzKompass,r67825 437a 7092 0000 sts (ErsatzKompass)+1,r77826 437e 8092 0000 sts (ErsatzKompass)+2,r87827 4382 9092 0000 sts (ErsatzKompass)+3,r97828 .L627:7829 4386 8091 0000 lds r24,NeueKompassRichtungMerken7830 438a 8823 tst r247831 438c 01F4 brne .L6147832 438e 8091 0000 lds r24,KompassSollWert7833 4392 9091 0000 lds r25,(KompassSollWert)+17834 4396 2091 0000 lds r18,ErsatzKompassInGrad7835 439a 3091 0000 lds r19,(ErsatzKompassInGrad)+17836 439e 821B sub r24,r187837 43a0 930B sbc r25,r197838 43a2 845E subi r24,lo8(-(540))7839 43a4 9D4F sbci r25,hi8(-(540))7840 43a6 68E6 ldi r22,lo8(360)7841 43a8 71E0 ldi r23,hi8(360)7842 43aa 0E94 0000 call __divmodhi47843 43ae 9C01 movw r18,r247844 43b0 245B subi r18,lo8(-(-180))7845 43b2 3040 sbci r19,hi8(-(-180))7846 43b4 8091 0000 lds r24,Parameter_KompassWirkung7847 43b8 8695 lsr r247848 43ba 9927 clr r257849 43bc 289F mul r18,r247850 43be D001 movw r26,r07851 43c0 299F mul r18,r257852 43c2 B00D add r27,r07853 43c4 389F mul r19,r247854 43c6 B00D add r27,r07855 43c8 1124 clr r17856 43ca 9D01 movw r18,r267857 43cc B7FF sbrs r27,77858 43ce 00C0 rjmp .L6297859 43d0 215F subi r18,lo8(-(15))7860 43d2 3F4F sbci r19,hi8(-(15))7861 .L629:7862 43d4 F4E0 ldi r31,47863 43d6 3595 1: asr r197864 43d8 2795 ror r187865 43da FA95 dec r317866 43dc 01F4 brne 1b7867 43de 3093 0000 sts (CompassGierSetpoint)+1,r197868 43e2 2093 0000 sts CompassGierSetpoint,r187869 43e6 00C0 rjmp .L6317870 .L614:7871 43e8 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7872 43ec 1092 0000 sts CompassGierSetpoint,__zero_reg__7873 .L631:7874 43f0 8091 0000 lds r24,TrichterFlug7875 43f4 8823 tst r247876 43f6 01F0 breq .L6327877 43f8 1092 0000 sts SummeRoll,__zero_reg__7878 43fc 1092 0000 sts (SummeRoll)+1,__zero_reg__7879 4400 1092 0000 sts (SummeRoll)+2,__zero_reg__7880 4404 1092 0000 sts (SummeRoll)+3,__zero_reg__7881 4408 1092 0000 sts SummeNick,__zero_reg__7882 440c 1092 0000 sts (SummeNick)+1,__zero_reg__7883 4410 1092 0000 sts (SummeNick)+2,__zero_reg__7884 4414 1092 0000 sts (SummeNick)+3,__zero_reg__7885 .L632:7886 4418 F090 0000 lds r15,Looping_Nick7887 441c FF20 tst r157888 441e 01F4 brne .L6337889 4420 8091 0000 lds r24,IntegralFaktor7890 4424 282F mov r18,r247891 4426 3327 clr r197892 4428 4427 clr r207893 442a 5527 clr r217894 442c 8091 0000 lds r24,IntegralNick7895 4430 9091 0000 lds r25,(IntegralNick)+17896 4434 A091 0000 lds r26,(IntegralNick)+27897 4438 B091 0000 lds r27,(IntegralNick)+37898 443c BC01 movw r22,r247899 443e CD01 movw r24,r267900 4440 0E94 0000 call __mulsi37901 4444 DC01 movw r26,r247902 4446 CB01 movw r24,r227903 4448 BC01 movw r22,r247904 444a CD01 movw r24,r267905 444c 28EF ldi r18,lo8(11000)7906 444e 3AE2 ldi r19,hi8(11000)7907 4450 40E0 ldi r20,hlo8(11000)7908 4452 50E0 ldi r21,hhi8(11000)7909 4454 0E94 0000 call __divmodsi47910 4458 3901 movw r6,r187911 445a 00C0 rjmp .L6347912 .L633:7913 445c 6624 clr r67914 445e 7724 clr r77915 .L634:7916 4460 E090 0000 lds r14,Looping_Roll7917 4464 EE20 tst r147918 4466 01F4 brne .L6357919 4468 8091 0000 lds r24,IntegralFaktor7920 446c 282F mov r18,r247921 446e 3327 clr r197922 4470 4427 clr r207923 4472 5527 clr r217924 4474 8091 0000 lds r24,IntegralRoll7925 4478 9091 0000 lds r25,(IntegralRoll)+17926 447c A091 0000 lds r26,(IntegralRoll)+27927 4480 B091 0000 lds r27,(IntegralRoll)+37928 4484 BC01 movw r22,r247929 4486 CD01 movw r24,r267930 4488 0E94 0000 call __mulsi37931 448c DC01 movw r26,r247932 448e CB01 movw r24,r227933 4490 BC01 movw r22,r247934 4492 CD01 movw r24,r267935 4494 28EF ldi r18,lo8(11000)7936 4496 3AE2 ldi r19,hi8(11000)7937 4498 40E0 ldi r20,hlo8(11000)7938 449a 50E0 ldi r21,hhi8(11000)7939 449c 0E94 0000 call __divmodsi47940 44a0 2901 movw r4,r187941 44a2 00C0 rjmp .L6367942 .L635:7943 44a4 4424 clr r47944 44a6 5524 clr r57945 .L636:7946 44a8 8091 0000 lds r24,TrimNick7947 44ac 9091 0000 lds r25,(TrimNick)+17948 44b0 893C cpi r24,2017949 44b2 9105 cpc r25,__zero_reg__7950 44b4 04F0 brlt .L6377951 44b6 88EC ldi r24,lo8(200)7952 44b8 90E0 ldi r25,hi8(200)7953 44ba 00C0 rjmp .L8947954 .L637:7955 44bc 8853 subi r24,lo8(-200)7956 44be 9F4F sbci r25,hi8(-200)7957 44c0 04F4 brge .L6387958 44c2 88E3 ldi r24,lo8(-200)7959 44c4 9FEF ldi r25,hi8(-200)7960 .L894:7961 44c6 9093 0000 sts (TrimNick)+1,r257962 44ca 8093 0000 sts TrimNick,r247963 .L638:7964 44ce 8091 0000 lds r24,TrimRoll7965 44d2 9091 0000 lds r25,(TrimRoll)+17966 44d6 893C cpi r24,2017967 44d8 9105 cpc r25,__zero_reg__7968 44da 04F0 brlt .L6407969 44dc 88EC ldi r24,lo8(200)7970 44de 90E0 ldi r25,hi8(200)7971 44e0 00C0 rjmp .L8957972 .L640:7973 44e2 8853 subi r24,lo8(-200)7974 44e4 9F4F sbci r25,hi8(-200)7975 44e6 04F4 brge .L6417976 44e8 88E3 ldi r24,lo8(-200)7977 44ea 9FEF ldi r25,hi8(-200)7978 .L895:7979 44ec 9093 0000 sts (TrimRoll)+1,r257980 44f0 8093 0000 sts TrimRoll,r247981 .L641:7982 44f4 8091 0000 lds r24,MesswertNick7983 44f8 9091 0000 lds r25,(MesswertNick)+17984 44fc AA27 clr r267985 44fe 97FD sbrc r25,77986 4500 A095 com r267987 4502 BA2F mov r27,r267988 4504 2091 0000 lds r18,GyroFaktor7989 4508 A22E mov r10,r187990 450a BB24 clr r117991 450c CC24 clr r127992 450e DD24 clr r137993 4510 BC01 movw r22,r247994 4512 CD01 movw r24,r267995 4514 A601 movw r20,r127996 4516 9501 movw r18,r107997 4518 0E94 0000 call __mulsi37998 451c 9B01 movw r18,r227999 451e AC01 movw r20,r248000 4520 8091 0000 lds r24,TrimNick8001 4524 9091 0000 lds r25,(TrimNick)+18002 4528 AA27 clr r268003 452a 97FD sbrc r25,78004 452c A095 com r268005 452e BA2F mov r27,r268006 4530 E7E0 ldi r30,78007 4532 880F 1: lsl r248008 4534 991F rol r258009 4536 AA1F rol r268010 4538 BB1F rol r278011 453a EA95 dec r308012 453c 01F4 brne 1b8013 453e 280F add r18,r248014 4540 391F adc r19,r258015 4542 4A1F adc r20,r268016 4544 5B1F adc r21,r278017 4546 57FF sbrs r21,78018 4548 00C0 rjmp .L6438019 454a 215C subi r18,lo8(-(63))8020 454c 3F4F sbci r19,hi8(-(63))8021 454e 4F4F sbci r20,hlo8(-(63))8022 4550 5F4F sbci r21,hhi8(-(63))8023 .L643:8024 4552 76E0 ldi r23,68025 4554 5595 1: asr r218026 4556 4795 ror r208027 4558 3795 ror r198028 455a 2795 ror r188029 455c 7A95 dec r238030 455e 01F4 brne 1b8031 4560 8301 movw r16,r68032 4562 020F add r16,r188033 4564 131F adc r17,r198034 4566 1093 0000 sts (MesswertNick)+1,r178035 456a 0093 0000 sts MesswertNick,r168036 456e 8091 0000 lds r24,MesswertRoll8037 4572 9091 0000 lds r25,(MesswertRoll)+18038 4576 AA27 clr r268039 4578 97FD sbrc r25,78040 457a A095 com r268041 457c BA2F mov r27,r268042 457e BC01 movw r22,r248043 4580 CD01 movw r24,r268044 4582 A601 movw r20,r128045 4584 9501 movw r18,r108046 4586 0E94 0000 call __mulsi38047 458a 9B01 movw r18,r228048 458c AC01 movw r20,r248049 458e 8091 0000 lds r24,TrimRoll8050 4592 9091 0000 lds r25,(TrimRoll)+18051 4596 AA27 clr r268052 4598 97FD sbrc r25,78053 459a A095 com r268054 459c BA2F mov r27,r268055 459e 67E0 ldi r22,78056 45a0 880F 1: lsl r248057 45a2 991F rol r258058 45a4 AA1F rol r268059 45a6 BB1F rol r278060 45a8 6A95 dec r228061 45aa 01F4 brne 1b8062 45ac 280F add r18,r248063 45ae 391F adc r19,r258064 45b0 4A1F adc r20,r268065 45b2 5B1F adc r21,r278066 45b4 57FF sbrs r21,78067 45b6 00C0 rjmp .L6448068 45b8 215C subi r18,lo8(-(63))8069 45ba 3F4F sbci r19,hi8(-(63))8070 45bc 4F4F sbci r20,hlo8(-(63))8071 45be 5F4F sbci r21,hhi8(-(63))8072 .L644:8073 45c0 F6E0 ldi r31,68074 45c2 5595 1: asr r218075 45c4 4795 ror r208076 45c6 3795 ror r198077 45c8 2795 ror r188078 45ca FA95 dec r318079 45cc 01F4 brne 1b8080 45ce 4201 movw r8,r48081 45d0 820E add r8,r188082 45d2 931E adc r9,r198083 45d4 9092 0000 sts (MesswertRoll)+1,r98084 45d8 8092 0000 sts MesswertRoll,r88085 45dc 8091 0000 lds r24,MesswertGier8086 45e0 9091 0000 lds r25,(MesswertGier)+18087 45e4 880F add r24,r248088 45e6 991F adc r25,r258089 45e8 AA27 clr r268090 45ea 97FD sbrc r25,78091 45ec A095 com r268092 45ee BA2F mov r27,r268093 45f0 2091 0000 lds r18,GyroFaktorGier8094 45f4 3327 clr r198095 45f6 4427 clr r208096 45f8 5527 clr r218097 45fa BC01 movw r22,r248098 45fc CD01 movw r24,r268099 45fe 0E94 0000 call __mulsi38100 4602 5B01 movw r10,r228101 4604 6C01 movw r12,r248102 4606 97FF sbrs r25,78103 4608 00C0 rjmp .L6458104 460a 2FE3 ldi r18,lo8(63)8105 460c 30E0 ldi r19,hi8(63)8106 460e 40E0 ldi r20,hlo8(63)8107 4610 50E0 ldi r21,hhi8(63)8108 4612 A20E add r10,r188109 4614 B31E adc r11,r198110 4616 C41E adc r12,r208111 4618 D51E adc r13,r218112 .L645:8113 461a E6E0 ldi r30,68114 461c D594 1: asr r138115 461e C794 ror r128116 4620 B794 ror r118117 4622 A794 ror r108118 4624 EA95 dec r308119 4626 01F4 brne 1b8120 4628 8091 0000 lds r24,IntegralFaktorGier8121 462c 282F mov r18,r248122 462e 3327 clr r198123 4630 4427 clr r208124 4632 5527 clr r218125 4634 8091 0000 lds r24,Integral_Gier8126 4638 9091 0000 lds r25,(Integral_Gier)+18127 463c A091 0000 lds r26,(Integral_Gier)+28128 4640 B091 0000 lds r27,(Integral_Gier)+38129 4644 BC01 movw r22,r248130 4646 CD01 movw r24,r268131 4648 0E94 0000 call __mulsi38132 464c DC01 movw r26,r248133 464e CB01 movw r24,r228134 4650 BC01 movw r22,r248135 4652 CD01 movw r24,r268136 4654 20EF ldi r18,lo8(22000)8137 4656 35E5 ldi r19,hi8(22000)8138 4658 40E0 ldi r20,hlo8(22000)8139 465a 50E0 ldi r21,hhi8(22000)8140 465c 0E94 0000 call __divmodsi48141 4660 B501 movw r22,r108142 4662 620F add r22,r188143 4664 731F adc r23,r198144 4666 7093 0000 sts (MesswertGier)+1,r238145 466a 6093 0000 sts MesswertGier,r228146 466e 0150 subi r16,lo8(4097)8147 4670 1041 sbci r17,hi8(4097)8148 4672 04F0 brlt .L6468149 4674 80E0 ldi r24,lo8(4096)8150 4676 90E1 ldi r25,hi8(4096)8151 4678 9093 0000 sts (MesswertNick)+1,r258152 467c 8093 0000 sts MesswertNick,r248153 .L646:8154 4680 8091 0000 lds r24,MesswertNick8155 4684 9091 0000 lds r25,(MesswertNick)+18156 4688 8050 subi r24,lo8(-4096)8157 468a 904F sbci r25,hi8(-4096)8158 468c 04F4 brge .L6478159 468e 80E0 ldi r24,lo8(-4096)8160 4690 90EF ldi r25,hi8(-4096)8161 4692 9093 0000 sts (MesswertNick)+1,r258162 4696 8093 0000 sts MesswertNick,r248163 .L647:8164 469a 51E0 ldi r21,lo8(4097)8165 469c 8516 cp r8,r218166 469e 50E1 ldi r21,hi8(4097)8167 46a0 9506 cpc r9,r218168 46a2 04F0 brlt .L6488169 46a4 80E0 ldi r24,lo8(4096)8170 46a6 90E1 ldi r25,hi8(4096)8171 46a8 9093 0000 sts (MesswertRoll)+1,r258172 46ac 8093 0000 sts MesswertRoll,r248173 .L648:8174 46b0 8091 0000 lds r24,MesswertRoll8175 46b4 9091 0000 lds r25,(MesswertRoll)+18176 46b8 8050 subi r24,lo8(-4096)8177 46ba 904F sbci r25,hi8(-4096)8178 46bc 04F4 brge .L6498179 46be 80E0 ldi r24,lo8(-4096)8180 46c0 90EF ldi r25,hi8(-4096)8181 46c2 9093 0000 sts (MesswertRoll)+1,r258182 46c6 8093 0000 sts MesswertRoll,r248183 .L649:8184 46ca 6150 subi r22,lo8(4097)8185 46cc 7041 sbci r23,hi8(4097)8186 46ce 04F0 brlt .L6508187 46d0 80E0 ldi r24,lo8(4096)8188 46d2 90E1 ldi r25,hi8(4096)8189 46d4 9093 0000 sts (MesswertGier)+1,r258190 46d8 8093 0000 sts MesswertGier,r248191 .L650:8192 46dc 8091 0000 lds r24,MesswertGier8193 46e0 9091 0000 lds r25,(MesswertGier)+18194 46e4 8050 subi r24,lo8(-4096)8195 46e6 904F sbci r25,hi8(-4096)8196 46e8 04F4 brge .L6518197 46ea 80E0 ldi r24,lo8(-4096)8198 46ec 90EF ldi r25,hi8(-4096)8199 46ee 9093 0000 sts (MesswertGier)+1,r258200 46f2 8093 0000 sts MesswertGier,r248201 .L651:8202 46f6 8091 0000 lds r24,BattLowVoltageWarning8203 46fa 482F mov r20,r248204 46fc 5527 clr r218205 46fe 8091 0000 lds r24,UBat8206 4702 9091 0000 lds r25,(UBat)+18207 4706 4817 cp r20,r248208 4708 5907 cpc r21,r258209 470a 04F4 brge .L6528210 470c 2091 0000 lds r18,UBat8211 4710 3091 0000 lds r19,(UBat)+18212 4714 0981 ldd r16,Y+18213 4716 1A81 ldd r17,Y+28214 4718 049F mul r16,r208215 471a C001 movw r24,r08216 471c 059F mul r16,r218217 471e 900D add r25,r08218 4720 149F mul r17,r208219 4722 900D add r25,r08220 4724 1124 clr r18221 4726 B901 movw r22,r188222 4728 0E94 0000 call __udivmodhi48223 472c 7A83 std Y+2,r238224 472e 6983 std Y+1,r228225 .L652:8226 4730 2981 ldd r18,Y+18227 4732 3A81 ldd r19,Y+28228 4734 220F lsl r188229 4736 331F rol r198230 4738 220F lsl r188231 473a 331F rol r198232 473c 3A83 std Y+2,r198233 473e 2983 std Y+1,r188234 4740 4091 0000 lds r20,Parameter_GlobalConfig8235 4744 40FD sbrc r20,08236 4746 00C0 rjmp .+48237 4748 0C94 0000 jmp .L6538238 474c EE20 tst r148239 474e 01F0 breq .+48240 4750 0C94 0000 jmp .L6538241 4754 FF20 tst r158242 4756 01F0 breq .+48243 4758 0C94 0000 jmp .L6538244 475c 00E0 ldi r16,lo8(0)8245 475e 10E0 ldi r17,hi8(0)8246 4760 4801 movw r8,r168247 4762 8091 0000 lds r24,HoverGas8248 4766 9091 0000 lds r25,(HoverGas)+18249 476a 9093 0000 sts (DebugOut+44)+1,r258250 476e 8093 0000 sts DebugOut+44,r248251 4772 2091 0000 lds r18,BaroExpandActive8252 4776 3091 0000 lds r19,(BaroExpandActive)+18253 477a 2115 cp r18,__zero_reg__8254 477c 3105 cpc r19,__zero_reg__8255 477e 01F0 breq .+28256 4780 00C0 rjmp .L6548257 4782 8091 0000 lds r24,MessLuftdruck8258 4786 9091 0000 lds r25,(MessLuftdruck)+18259 478a 8959 subi r24,lo8(921)8260 478c 9340 sbci r25,hi8(921)8261 478e 00F0 brlo .L6558262 4790 87B5 in r24,71-0x208263 4792 803F cpi r24,lo8(-16)8264 4794 00F4 brsh .L6568265 4796 8091 0000 lds r24,ExpandBaro8266 479a 8150 subi r24,lo8(-(-1))8267 479c 00C0 rjmp .L8968268 .L656:8269 479e 81E0 ldi r24,lo8(1)8270 47a0 8093 0000 sts BaroAtLowerLimit.26,r248271 47a4 00C0 rjmp .L6638272 .L655:8273 47a6 8091 0000 lds r24,MessLuftdruck8274 47aa 9091 0000 lds r25,(MessLuftdruck)+18275 47ae 8436 cpi r24,1008276 47b0 9105 cpc r25,__zero_reg__8277 47b2 00F4 brsh .L6598278 47b4 87B5 in r24,71-0x208279 47b6 8031 cpi r24,lo8(16)8280 47b8 00F0 brlo .L6608281 47ba 8091 0000 lds r24,ExpandBaro8282 47be 8F5F subi r24,lo8(-(1))8283 .L896:8284 47c0 8093 0000 sts ExpandBaro,r248285 47c4 9FE0 ldi r25,lo8(15)8286 47c6 8902 muls r24,r258287 47c8 9001 movw r18,r08288 47ca 1124 clr r18289 47cc 8091 0000 lds r24,DruckOffsetSetting8290 47d0 821B sub r24,r188291 47d2 87BD out 71-0x20,r248292 47d4 8CE2 ldi r24,lo8(300)8293 47d6 91E0 ldi r25,hi8(300)8294 47d8 9093 0000 sts (beeptime)+1,r258295 47dc 8093 0000 sts beeptime,r248296 47e0 8EE5 ldi r24,lo8(350)8297 47e2 91E0 ldi r25,hi8(350)8298 47e4 9093 0000 sts (BaroExpandActive)+1,r258299 47e8 8093 0000 sts BaroExpandActive,r248300 47ec 00C0 rjmp .L6638301 .L660:8302 47ee 81E0 ldi r24,lo8(1)8303 47f0 8093 0000 sts BaroAtUpperLimit.25,r248304 47f4 00C0 rjmp .L6638305 .L659:8306 47f6 F092 0000 sts BaroAtUpperLimit.25,r158307 47fa F092 0000 sts BaroAtLowerLimit.26,r158308 47fe 00C0 rjmp .L6638309 .L654:8310 4800 8091 0000 lds r24,HoehenWert8311 4804 9091 0000 lds r25,(HoehenWert)+18312 4808 A091 0000 lds r26,(HoehenWert)+28313 480c B091 0000 lds r27,(HoehenWert)+38314 4810 64E0 ldi r22,48315 4812 880F 1: lsl r248316 4814 991F rol r258317 4816 AA1F rol r268318 4818 BB1F rol r278319 481a 6A95 dec r228320 481c 01F4 brne 1b8321 481e 8093 0000 sts SummenHoehe,r248322 4822 9093 0000 sts (SummenHoehe)+1,r258323 4826 A093 0000 sts (SummenHoehe)+2,r268324 482a B093 0000 sts (SummenHoehe)+3,r278325 482e 1093 0000 sts (VarioMeter)+1,r178326 4832 0093 0000 sts VarioMeter,r168327 4836 2150 subi r18,lo8(-(-1))8328 4838 3040 sbci r19,hi8(-(-1))8329 483a 3093 0000 sts (BaroExpandActive)+1,r198330 483e 2093 0000 sts BaroExpandActive,r188331 .L663:8332 4842 2091 0000 lds r18,Parameter_HoehenSchalter8333 4846 41FF sbrs r20,18334 4848 00C0 rjmp .L6648335 484a 2233 cpi r18,lo8(50)8336 484c 00F4 brsh .L6658337 484e 8091 0000 lds r24,delay.248338 4852 8150 subi r24,lo8(-(-1))8339 4854 8093 0000 sts delay.24,r248340 4858 8F3F cpi r24,lo8(-1)8341 485a 01F0 breq .+28342 485c 00C0 rjmp .L6718343 485e 8091 0000 lds r24,SpeakHoTT8344 4862 8823 tst r248345 4864 01F4 brne .L6678346 4866 8091 0000 lds r24,HoehenReglerAktiv8347 486a 8823 tst r248348 486c 01F0 breq .L6678349 486e 88E2 ldi r24,lo8(40)8350 4870 8093 0000 sts SpeakHoTT,r248351 .L667:8352 4874 1092 0000 sts HoehenReglerAktiv,__zero_reg__8353 4878 8091 0000 lds r24,HoehenWert8354 487c 9091 0000 lds r25,(HoehenWert)+18355 4880 A091 0000 lds r26,(HoehenWert)+28356 4884 B091 0000 lds r27,(HoehenWert)+38357 4888 8093 0000 sts SollHoehe,r248358 488c 9093 0000 sts (SollHoehe)+1,r258359 4890 A093 0000 sts (SollHoehe)+2,r268360 4894 B093 0000 sts (SollHoehe)+3,r278361 4898 81E0 ldi r24,lo8(1)8362 489a 8093 0000 sts delay.24,r248363 489e 00C0 rjmp .L6718364 .L665:8365 48a0 2734 cpi r18,lo8(71)8366 48a2 00F0 brlo .L6718367 48a4 8091 0000 lds r24,SpeakHoTT8368 48a8 8823 tst r248369 48aa 01F4 brne .L6708370 48ac 8091 0000 lds r24,HoehenReglerAktiv8371 48b0 8823 tst r248372 48b2 01F4 brne .L6708373 48b4 87E2 ldi r24,lo8(39)8374 48b6 8093 0000 sts SpeakHoTT,r248375 .L670:8376 48ba 88EC ldi r24,lo8(-56)8377 48bc 8093 0000 sts delay.24,r248378 48c0 00C0 rjmp .L8978379 .L664:8380 48c2 8091 0000 lds r24,ExternHoehenValue8381 48c6 9091 0000 lds r25,(ExternHoehenValue)+18382 48ca 820F add r24,r188383 48cc 911D adc r25,__zero_reg__8384 48ce 2091 0000 lds r18,EE_Parameter+188385 48d2 3327 clr r198386 48d4 829F mul r24,r188387 48d6 A001 movw r20,r08388 48d8 839F mul r24,r198389 48da 500D add r21,r08390 48dc 929F mul r25,r188391 48de 500D add r21,r08392 48e0 1124 clr r18393 48e2 CA01 movw r24,r208394 48e4 AA27 clr r268395 48e6 97FD sbrc r25,78396 48e8 A095 com r268397 48ea BA2F mov r27,r268398 48ec 8093 0000 sts SollHoehe,r248399 48f0 9093 0000 sts (SollHoehe)+1,r258400 48f4 A093 0000 sts (SollHoehe)+2,r268401 48f8 B093 0000 sts (SollHoehe)+3,r278402 .L897:8403 48fc 81E0 ldi r24,lo8(1)8404 48fe 8093 0000 sts HoehenReglerAktiv,r248405 .L671:8406 4902 8091 0000 lds r24,IntegralNick8407 4906 9091 0000 lds r25,(IntegralNick)+18408 490a A091 0000 lds r26,(IntegralNick)+28409 490e B091 0000 lds r27,(IntegralNick)+38410 4912 E090 0000 lds r14,GIER_GRAD_FAKTOR8411 4916 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18412 491a 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28413 491e 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38414 4922 BC01 movw r22,r248415 4924 CD01 movw r24,r268416 4926 A801 movw r20,r168417 4928 9701 movw r18,r148418 492a 0E94 0000 call __divmodsi48419 492e 5901 movw r10,r188420 4930 6A01 movw r12,r208421 4932 8091 0000 lds r24,IntegralRoll8422 4936 9091 0000 lds r25,(IntegralRoll)+18423 493a A091 0000 lds r26,(IntegralRoll)+28424 493e B091 0000 lds r27,(IntegralRoll)+38425 4942 BC01 movw r22,r248426 4944 CD01 movw r24,r268427 4946 A801 movw r20,r168428 4948 9701 movw r18,r148429 494a 0E94 0000 call __divmodsi48430 494e B901 movw r22,r188431 4950 C501 movw r24,r108432 4952 0E94 0000 call ihypot8433 4956 5C01 movw r10,r248434 4958 CC97 sbiw r24,608435 495a 04F0 brlt .L6728436 495c 5CE3 ldi r21,lo8(60)8437 495e A52E mov r10,r218438 4960 B12C mov r11,__zero_reg__8439 .L672:8440 4962 C501 movw r24,r108441 4964 0E94 0000 call c_cos_81928442 4968 5C01 movw r10,r248443 496a 80E2 ldi r24,lo8(32)8444 496c 8093 0000 sts VarioCharacter,r248445 4970 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8446 4974 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8447 4978 8091 0000 lds r24,HoehenReglerAktiv8448 497c 8823 tst r248449 497e 01F4 brne .+28450 4980 00C0 rjmp .L6738451 4982 8091 0000 lds r24,FC_StatusFlags8452 4986 9927 clr r258453 4988 9C01 movw r18,r248454 498a 2071 andi r18,lo8(16)8455 498c 3070 andi r19,hi8(16)8456 498e 84FD sbrc r24,48457 4990 00C0 rjmp .L6738458 4992 8091 0000 lds r24,FC_StatusFlags28459 4996 8260 ori r24,lo8(2)8460 4998 8093 0000 sts FC_StatusFlags2,r248461 499c 7091 0000 lds r23,Parameter_ExtraConfig8462 49a0 872F mov r24,r238463 49a2 9927 clr r258464 49a4 41E0 ldi r20,lo8(1)8465 49a6 C42E mov r12,r208466 49a8 D12C mov r13,__zero_reg__8467 49aa C822 and r12,r248468 49ac D922 and r13,r258469 49ae 80FD sbrc r24,08470 49b0 00C0 rjmp .L6758471 49b2 8091 0000 lds r24,Parameter_GlobalConfig8472 49b6 81FD sbrc r24,18473 49b8 00C0 rjmp .L6748474 .L675:8475 49ba C980 ldd r12,Y+18476 49bc DA80 ldd r13,Y+28477 49be 3093 0000 sts (HeightTrimming.21)+1,r198478 49c2 2093 0000 sts HeightTrimming.21,r188479 49c6 3093 0000 sts (AltitudeSetpointTrimming)+1,r198480 49ca 2093 0000 sts AltitudeSetpointTrimming,r188481 49ce 8091 0000 lds r24,FC_StatusFlags8482 49d2 806C ori r24,lo8(-64)8483 49d4 8093 0000 sts FC_StatusFlags,r248484 49d8 00C0 rjmp .L6768485 .L674:8486 49da 8091 0000 lds r24,FC_StatusFlags8487 49de 81FF sbrs r24,18488 49e0 00C0 rjmp .L6778489 49e2 0091 0000 lds r16,StickGasHover8490 49e6 1091 0000 lds r17,(StickGasHover)+18491 49ea C801 movw r24,r168492 49ec 0F96 adiw r24,158493 49ee 2090 0000 lds r2,StickGas8494 49f2 3090 0000 lds r3,(StickGas)+18495 49f6 8215 cp r24,r28496 49f8 9305 cpc r25,r38497 49fa 04F0 brlt .+28498 49fc 00C0 rjmp .L6788499 49fe 8091 0000 lds r24,BaroAtUpperLimit.258500 4a02 8823 tst r248501 4a04 01F0 breq .+28502 4a06 00C0 rjmp .L6788503 4a08 8091 0000 lds r24,FC_StatusFlags8504 4a0c 87FF sbrs r24,78505 4a0e 00C0 rjmp .L6798506 4a10 8091 0000 lds r24,FC_StatusFlags8507 4a14 8F77 andi r24,lo8(127)8508 4a16 8093 0000 sts FC_StatusFlags,r248509 4a1a 8091 0000 lds r24,HoehenWert8510 4a1e 9091 0000 lds r25,(HoehenWert)+18511 4a22 A091 0000 lds r26,(HoehenWert)+28512 4a26 B091 0000 lds r27,(HoehenWert)+38513 4a2a 8093 0000 sts SollHoehe,r248514 4a2e 9093 0000 sts (SollHoehe)+1,r258515 4a32 A093 0000 sts (SollHoehe)+2,r268516 4a36 B093 0000 sts (SollHoehe)+3,r278517 .L679:8518 4a3a 8091 0000 lds r24,FC_StatusFlags8519 4a3e 8064 ori r24,lo8(64)8520 4a40 8093 0000 sts FC_StatusFlags,r248521 4a44 E090 0000 lds r14,Parameter_MaximumAltitude8522 4a48 EE20 tst r148523 4a4a 01F0 breq .L6808524 4a4c 8091 0000 lds r24,SollHoehe8525 4a50 9091 0000 lds r25,(SollHoehe)+18526 4a54 A091 0000 lds r26,(SollHoehe)+28527 4a58 B091 0000 lds r27,(SollHoehe)+38528 4a5c BC01 movw r22,r248529 4a5e CD01 movw r24,r268530 4a60 24E6 ldi r18,lo8(100)8531 4a62 30E0 ldi r19,hi8(100)8532 4a64 40E0 ldi r20,hlo8(100)8533 4a66 50E0 ldi r21,hhi8(100)8534 4a68 0E94 0000 call __divmodsi48535 4a6c 8E2D mov r24,r148536 4a6e 9927 clr r258537 4a70 AA27 clr r268538 4a72 BB27 clr r278539 4a74 8217 cp r24,r188540 4a76 9307 cpc r25,r198541 4a78 A407 cpc r26,r208542 4a7a B507 cpc r27,r218543 4a7c 04F4 brge .L6808544 4a7e D092 0000 sts (AltitudeSetpointTrimming)+1,r138545 4a82 C092 0000 sts AltitudeSetpointTrimming,r128546 4a86 00C0 rjmp .L6818547 .L680:8548 4a88 C101 movw r24,r28549 4a8a 801B sub r24,r168550 4a8c 910B sbc r25,r178551 4a8e 0F97 sbiw r24,158552 4a90 97FF sbrs r25,78553 4a92 00C0 rjmp .L6828554 4a94 9095 com r258555 4a96 8195 neg r248556 4a98 9F4F sbci r25,lo8(-1)8557 .L682:8558 4a9a 9093 0000 sts (AltitudeSetpointTrimming)+1,r258559 4a9e 8093 0000 sts AltitudeSetpointTrimming,r248560 4aa2 8BE2 ldi r24,lo8(43)8561 4aa4 8093 0000 sts VarioCharacter,r248562 .L681:8563 4aa8 1092 0000 sts WaypointTrimming,__zero_reg__8564 4aac 00C0 rjmp .L6838565 .L678:8566 4aae C801 movw r24,r168567 4ab0 0F97 sbiw r24,158568 4ab2 2816 cp r2,r248569 4ab4 3906 cpc r3,r258570 4ab6 04F4 brge .L6848571 4ab8 2091 0000 lds r18,BaroAtLowerLimit.268572 4abc 2223 tst r188573 4abe 01F4 brne .L6848574 4ac0 8091 0000 lds r24,FC_StatusFlags8575 4ac4 86FF sbrs r24,68576 4ac6 00C0 rjmp .L6858577 4ac8 8091 0000 lds r24,FC_StatusFlags8578 4acc 8F7B andi r24,lo8(-65)8579 4ace 8093 0000 sts FC_StatusFlags,r248580 4ad2 8091 0000 lds r24,HoehenWert8581 4ad6 9091 0000 lds r25,(HoehenWert)+18582 4ada A091 0000 lds r26,(HoehenWert)+28583 4ade B091 0000 lds r27,(HoehenWert)+38584 4ae2 8093 0000 sts SollHoehe,r248585 4ae6 9093 0000 sts (SollHoehe)+1,r258586 4aea A093 0000 sts (SollHoehe)+2,r268587 4aee B093 0000 sts (SollHoehe)+3,r278588 .L685:8589 4af2 8091 0000 lds r24,FC_StatusFlags8590 4af6 8068 ori r24,lo8(-128)8591 4af8 8093 0000 sts FC_StatusFlags,r248592 4afc C101 movw r24,r28593 4afe 801B sub r24,r168594 4b00 910B sbc r25,r178595 4b02 0F96 adiw r24,158596 4b04 97FF sbrs r25,78597 4b06 00C0 rjmp .L6868598 4b08 9095 com r258599 4b0a 8195 neg r248600 4b0c 9F4F sbci r25,lo8(-1)8601 .L686:8602 4b0e 9095 com r258603 4b10 8195 neg r248604 4b12 9F4F sbci r25,lo8(-1)8605 4b14 9093 0000 sts (AltitudeSetpointTrimming)+1,r258606 4b18 8093 0000 sts AltitudeSetpointTrimming,r248607 4b1c 8DE2 ldi r24,lo8(45)8608 4b1e 8093 0000 sts VarioCharacter,r248609 4b22 2093 0000 sts WaypointTrimming,r188610 4b26 00C0 rjmp .L6838611 .L684:8612 4b28 8DE3 ldi r24,lo8(61)8613 4b2a 8093 0000 sts VarioCharacter,r248614 4b2e 6091 0000 lds r22,FromNC_AltitudeSpeed8615 4b32 6623 tst r228616 4b34 01F0 breq .L6888617 4b36 2091 0000 lds r18,FromNC_AltitudeSetpoint8618 4b3a 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18619 4b3e 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28620 4b42 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38621 4b46 8091 0000 lds r24,SollHoehe8622 4b4a 9091 0000 lds r25,(SollHoehe)+18623 4b4e A091 0000 lds r26,(SollHoehe)+28624 4b52 B091 0000 lds r27,(SollHoehe)+38625 4b56 8217 cp r24,r188626 4b58 9307 cpc r25,r198627 4b5a A407 cpc r26,r208628 4b5c B507 cpc r27,r218629 4b5e 04F4 brge .L6888630 4b60 8091 0000 lds r24,FC_StatusFlags8631 4b64 8064 ori r24,lo8(64)8632 4b66 8093 0000 sts FC_StatusFlags,r248633 4b6a 862F mov r24,r228634 4b6c 9927 clr r258635 4b6e 9093 0000 sts (AltitudeSetpointTrimming)+1,r258636 4b72 8093 0000 sts AltitudeSetpointTrimming,r248637 4b76 8AE0 ldi r24,lo8(10)8638 4b78 8093 0000 sts WaypointTrimming,r248639 4b7c 8EE5 ldi r24,lo8(94)8640 4b7e 8093 0000 sts VarioCharacter,r248641 4b82 8091 0000 lds r24,FC_StatusFlags8642 4b86 87FF sbrs r24,78643 4b88 00C0 rjmp .L6838644 4b8a 8091 0000 lds r24,FC_StatusFlags8645 4b8e 8F77 andi r24,lo8(127)8646 4b90 00C0 rjmp .L8998647 .L688:8648 4b92 6623 tst r228649 4b94 01F4 brne .+28650 4b96 00C0 rjmp .L6918651 4b98 2091 0000 lds r18,FromNC_AltitudeSetpoint8652 4b9c 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18653 4ba0 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28654 4ba4 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38655 4ba8 8091 0000 lds r24,SollHoehe8656 4bac 9091 0000 lds r25,(SollHoehe)+18657 4bb0 A091 0000 lds r26,(SollHoehe)+28658 4bb4 B091 0000 lds r27,(SollHoehe)+38659 4bb8 2817 cp r18,r248660 4bba 3907 cpc r19,r258661 4bbc 4A07 cpc r20,r268662 4bbe 5B07 cpc r21,r278663 4bc0 04F4 brge .L6918664 4bc2 8091 0000 lds r24,FC_StatusFlags8665 4bc6 8068 ori r24,lo8(-128)8666 4bc8 8093 0000 sts FC_StatusFlags,r248667 4bcc 862F mov r24,r228668 4bce 9927 clr r258669 4bd0 9095 com r258670 4bd2 8195 neg r248671 4bd4 9F4F sbci r25,lo8(-1)8672 4bd6 9093 0000 sts (AltitudeSetpointTrimming)+1,r258673 4bda 8093 0000 sts AltitudeSetpointTrimming,r248674 4bde 86EF ldi r24,lo8(-10)8675 4be0 8093 0000 sts WaypointTrimming,r248676 4be4 86E7 ldi r24,lo8(118)8677 4be6 8093 0000 sts VarioCharacter,r248678 4bea 8091 0000 lds r24,FC_StatusFlags8679 4bee 86FF sbrs r24,68680 4bf0 00C0 rjmp .L6838681 4bf2 8091 0000 lds r24,FC_StatusFlags8682 4bf6 8F7B andi r24,lo8(-65)8683 .L899:8684 4bf8 8093 0000 sts FC_StatusFlags,r248685 4bfc 8091 0000 lds r24,HoehenWert8686 4c00 9091 0000 lds r25,(HoehenWert)+18687 4c04 A091 0000 lds r26,(HoehenWert)+28688 4c08 B091 0000 lds r27,(HoehenWert)+38689 4c0c 8093 0000 sts SollHoehe,r248690 4c10 9093 0000 sts (SollHoehe)+1,r258691 4c14 A093 0000 sts (SollHoehe)+2,r268692 4c18 B093 0000 sts (SollHoehe)+3,r278693 4c1c 00C0 rjmp .L6838694 .L691:8695 4c1e 8091 0000 lds r24,FC_StatusFlags8696 4c22 807C andi r24,lo8(-64)8697 4c24 01F4 brne .+28698 4c26 00C0 rjmp .L6838699 4c28 8091 0000 lds r24,WaypointTrimming8700 4c2c 8823 tst r248701 4c2e 01F4 brne .L6958702 4c30 E090 0000 lds r14,HoehenWert8703 4c34 F090 0000 lds r15,(HoehenWert)+18704 4c38 0091 0000 lds r16,(HoehenWert)+28705 4c3c 1091 0000 lds r17,(HoehenWert)+38706 4c40 D801 movw r26,r168707 4c42 C701 movw r24,r148708 4c44 8058 subi r24,lo8(-(-128))8709 4c46 9040 sbci r25,hi8(-(-128))8710 4c48 A040 sbci r26,hlo8(-(-128))8711 4c4a B040 sbci r27,hhi8(-(-128))8712 4c4c 2091 0000 lds r18,SollHoehe8713 4c50 3091 0000 lds r19,(SollHoehe)+18714 4c54 4091 0000 lds r20,(SollHoehe)+28715 4c58 5091 0000 lds r21,(SollHoehe)+38716 4c5c 8217 cp r24,r188717 4c5e 9307 cpc r25,r198718 4c60 A407 cpc r26,r208719 4c62 B507 cpc r27,r218720 4c64 04F4 brge .L8988721 4c66 D801 movw r26,r168722 4c68 C701 movw r24,r148723 4c6a 8058 subi r24,lo8(-(128))8724 4c6c 9F4F sbci r25,hi8(-(128))8725 4c6e AF4F sbci r26,hlo8(-(128))8726 4c70 BF4F sbci r27,hhi8(-(128))8727 4c72 2817 cp r18,r248728 4c74 3907 cpc r19,r258729 4c76 4A07 cpc r20,r268730 4c78 5B07 cpc r21,r278731 4c7a 04F0 brlt .L6998732 .L898:8733 4c7c 8093 0000 sts SollHoehe,r248734 4c80 9093 0000 sts (SollHoehe)+1,r258735 4c84 A093 0000 sts (SollHoehe)+2,r268736 4c88 B093 0000 sts (SollHoehe)+3,r278737 4c8c 00C0 rjmp .L6998738 .L695:8739 4c8e 1092 0000 sts WaypointTrimming,__zero_reg__8740 .L699:8741 4c92 8091 0000 lds r24,FC_StatusFlags8742 4c96 8F73 andi r24,lo8(63)8743 4c98 8093 0000 sts FC_StatusFlags,r248744 4c9c 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8745 4ca0 1092 0000 sts HeightTrimming.21,__zero_reg__8746 4ca4 71FF sbrs r23,18747 4ca6 00C0 rjmp .L7008748 4ca8 84EF ldi r24,lo8(500)8749 4caa 91E0 ldi r25,hi8(500)8750 4cac 9093 0000 sts (beeptime)+1,r258751 4cb0 8093 0000 sts beeptime,r248752 .L700:8753 4cb4 8091 0000 lds r24,StartTrigger8754 4cb8 8823 tst r248755 4cba 01F4 brne .L6838756 4cbc 8091 0000 lds r24,HoehenWert8757 4cc0 9091 0000 lds r25,(HoehenWert)+18758 4cc4 A091 0000 lds r26,(HoehenWert)+28759 4cc8 B091 0000 lds r27,(HoehenWert)+38760 4ccc C397 sbiw r24,518761 4cce A105 cpc r26,__zero_reg__8762 4cd0 B105 cpc r27,__zero_reg__8763 4cd2 04F0 brlt .L6838764 4cd4 81E0 ldi r24,lo8(1)8765 4cd6 8093 0000 sts StartTrigger,r248766 .L683:8767 4cda 6091 0000 lds r22,HeightTrimming.218768 4cde 7091 0000 lds r23,(HeightTrimming.21)+18769 4ce2 8091 0000 lds r24,AltitudeSetpointTrimming8770 4ce6 9091 0000 lds r25,(AltitudeSetpointTrimming)+18771 4cea 680F add r22,r248772 4cec 791F adc r23,r258773 4cee 7093 0000 sts (HeightTrimming.21)+1,r238774 4cf2 6093 0000 sts HeightTrimming.21,r228775 4cf6 CB01 movw r24,r228776 4cf8 77FF sbrs r23,78777 4cfa 00C0 rjmp .L7038778 4cfc 8827 clr r248779 4cfe 9927 clr r258780 4d00 861B sub r24,r228781 4d02 970B sbc r25,r238782 .L703:8783 4d04 855F subi r24,lo8(501)8784 4d06 9140 sbci r25,hi8(501)8785 4d08 04F4 brge .+28786 4d0a 00C0 rjmp .L7028787 4d0c 4091 0000 lds r20,WaypointTrimming8788 4d10 4423 tst r208789 4d12 01F0 breq .L7048790 4d14 8091 0000 lds r24,FromNC_AltitudeSetpoint8791 4d18 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18792 4d1c 2091 0000 lds r18,SollHoehe8793 4d20 3091 0000 lds r19,(SollHoehe)+18794 4d24 821B sub r24,r188795 4d26 930B sbc r25,r198796 4d28 0996 adiw r24,98797 4d2a 4397 sbiw r24,198798 4d2c 00F4 brsh .L7058799 4d2e 8091 0000 lds r24,FromNC_AltitudeSetpoint8800 4d32 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18801 4d36 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28802 4d3a B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38803 4d3e 00C0 rjmp .L9018804 .L705:8805 4d40 242F mov r18,r208806 4d42 3327 clr r198807 4d44 27FD sbrc r18,78808 4d46 3095 com r198809 4d48 432F mov r20,r198810 4d4a 532F mov r21,r198811 4d4c 8091 0000 lds r24,SollHoehe8812 4d50 9091 0000 lds r25,(SollHoehe)+18813 4d54 A091 0000 lds r26,(SollHoehe)+28814 4d58 B091 0000 lds r27,(SollHoehe)+38815 4d5c 820F add r24,r188816 4d5e 931F adc r25,r198817 4d60 A41F adc r26,r208818 4d62 B51F adc r27,r218819 .L901:8820 4d64 8093 0000 sts SollHoehe,r248821 4d68 9093 0000 sts (SollHoehe)+1,r258822 4d6c A093 0000 sts (SollHoehe)+2,r268823 4d70 B093 0000 sts (SollHoehe)+3,r278824 4d74 00C0 rjmp .L7078825 .L704:8826 4d76 8091 0000 lds r24,EE_Parameter+188827 4d7a 2091 0000 lds r18,SollHoehe8828 4d7e 3091 0000 lds r19,(SollHoehe)+18829 4d82 4091 0000 lds r20,(SollHoehe)+28830 4d86 5091 0000 lds r21,(SollHoehe)+38831 4d8a 1616 cp __zero_reg__,r228832 4d8c 1706 cpc __zero_reg__,r238833 4d8e 04F4 brge .L7088834 4d90 63E0 ldi r22,lo8(3)8835 4d92 0E94 0000 call __udivmodqi48836 4d96 280F add r18,r248837 4d98 311D adc r19,__zero_reg__8838 4d9a 411D adc r20,__zero_reg__8839 4d9c 511D adc r21,__zero_reg__8840 4d9e 00C0 rjmp .L9008841 .L708:8842 4da0 63E0 ldi r22,lo8(3)8843 4da2 0E94 0000 call __udivmodqi48844 4da6 281B sub r18,r248845 4da8 3109 sbc r19,__zero_reg__8846 4daa 4109 sbc r20,__zero_reg__8847 4dac 5109 sbc r21,__zero_reg__8848 .L900:8849 4dae 2093 0000 sts SollHoehe,r188850 4db2 3093 0000 sts (SollHoehe)+1,r198851 4db6 4093 0000 sts (SollHoehe)+2,r208852 4dba 5093 0000 sts (SollHoehe)+3,r218853 .L707:8854 4dbe 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8855 4dc2 1092 0000 sts HeightTrimming.21,__zero_reg__8856 4dc6 E090 0000 lds r14,HoehenWert8857 4dca F090 0000 lds r15,(HoehenWert)+18858 4dce 0091 0000 lds r16,(HoehenWert)+28859 4dd2 1091 0000 lds r17,(HoehenWert)+38860 4dd6 D801 movw r26,r168861 4dd8 C701 movw r24,r148862 4dda 8050 subi r24,lo8(-(-1024))8863 4ddc 9440 sbci r25,hi8(-(-1024))8864 4dde A040 sbci r26,hlo8(-(-1024))8865 4de0 B040 sbci r27,hhi8(-(-1024))8866 4de2 2091 0000 lds r18,SollHoehe8867 4de6 3091 0000 lds r19,(SollHoehe)+18868 4dea 4091 0000 lds r20,(SollHoehe)+28869 4dee 5091 0000 lds r21,(SollHoehe)+38870 4df2 8217 cp r24,r188871 4df4 9307 cpc r25,r198872 4df6 A407 cpc r26,r208873 4df8 B507 cpc r27,r218874 4dfa 04F4 brge .L9028875 4dfc D801 movw r26,r168876 4dfe C701 movw r24,r148877 4e00 8050 subi r24,lo8(-(1024))8878 4e02 9C4F sbci r25,hi8(-(1024))8879 4e04 AF4F sbci r26,hlo8(-(1024))8880 4e06 BF4F sbci r27,hhi8(-(1024))8881 4e08 2817 cp r18,r248882 4e0a 3907 cpc r19,r258883 4e0c 4A07 cpc r20,r268884 4e0e 5B07 cpc r21,r278885 4e10 04F0 brlt .L7118886 .L902:8887 4e12 8093 0000 sts SollHoehe,r248888 4e16 9093 0000 sts (SollHoehe)+1,r258889 4e1a A093 0000 sts (SollHoehe)+2,r268890 4e1e B093 0000 sts (SollHoehe)+3,r278891 .L711:8892 4e22 8091 0000 lds r24,Parameter_ExtraConfig8893 4e26 81FF sbrs r24,18894 4e28 00C0 rjmp .L7138895 4e2a 84E6 ldi r24,lo8(100)8896 4e2c 90E0 ldi r25,hi8(100)8897 4e2e 9093 0000 sts (beeptime)+1,r258898 4e32 8093 0000 sts beeptime,r248899 .L713:8900 4e36 8091 0000 lds r24,EE_Parameter+228901 4e3a 8823 tst r248902 4e3c 01F4 brne .L7028903 4e3e 8091 0000 lds r24,FromNC_AltitudeSpeed8904 4e42 8823 tst r248905 4e44 01F4 brne .L7028906 4e46 4091 0000 lds r20,HoverGas8907 4e4a 5091 0000 lds r21,(HoverGas)+18908 4e4e 57FF sbrs r21,78909 4e50 00C0 rjmp .L7158910 4e52 4D5F subi r20,lo8(-(3))8911 4e54 5F4F sbci r21,hi8(-(3))8912 .L715:8913 4e56 5595 asr r218914 4e58 4795 ror r208915 4e5a 5595 asr r218916 4e5c 4795 ror r208917 4e5e 8091 0000 lds r24,UBat8918 4e62 9091 0000 lds r25,(UBat)+18919 4e66 2091 0000 lds r18,BattLowVoltageWarning8920 4e6a 3327 clr r198921 4e6c 489F mul r20,r248922 4e6e F001 movw r30,r08923 4e70 499F mul r20,r258924 4e72 F00D add r31,r08925 4e74 589F mul r21,r248926 4e76 F00D add r31,r08927 4e78 1124 clr r18928 4e7a CF01 movw r24,r308929 4e7c B901 movw r22,r188930 4e7e 0E94 0000 call __divmodhi48931 4e82 7093 0000 sts (StickGasHover)+1,r238932 4e86 6093 0000 sts StickGasHover,r228933 4e8a 6634 cpi r22,708934 4e8c 7105 cpc r23,__zero_reg__8935 4e8e 04F4 brge .L7168936 4e90 86E4 ldi r24,lo8(70)8937 4e92 90E0 ldi r25,hi8(70)8938 4e94 00C0 rjmp .L9038939 .L716:8940 4e96 6739 cpi r22,1518941 4e98 7105 cpc r23,__zero_reg__8942 4e9a 04F0 brlt .L7028943 4e9c 86E9 ldi r24,lo8(150)8944 4e9e 90E0 ldi r25,hi8(150)8945 .L903:8946 4ea0 9093 0000 sts (StickGasHover)+1,r258947 4ea4 8093 0000 sts StickGasHover,r248948 .L702:8949 4ea8 8091 0000 lds r24,BaroExpandActive8950 4eac 9091 0000 lds r25,(BaroExpandActive)+18951 4eb0 892B or r24,r258952 4eb2 01F0 breq .L7208953 4eb4 8091 0000 lds r24,HoehenWert8954 4eb8 9091 0000 lds r25,(HoehenWert)+18955 4ebc A091 0000 lds r26,(HoehenWert)+28956 4ec0 B091 0000 lds r27,(HoehenWert)+38957 4ec4 8093 0000 sts SollHoehe,r248958 4ec8 9093 0000 sts (SollHoehe)+1,r258959 4ecc A093 0000 sts (SollHoehe)+2,r268960 4ed0 B093 0000 sts (SollHoehe)+3,r278961 4ed4 00C0 rjmp .L7208962 .L677:8963 4ed6 8091 0000 lds r24,HoehenWert8964 4eda 9091 0000 lds r25,(HoehenWert)+18965 4ede A091 0000 lds r26,(HoehenWert)+28966 4ee2 B091 0000 lds r27,(HoehenWert)+38967 4ee6 8059 subi r24,lo8(-(-400))8968 4ee8 9140 sbci r25,hi8(-(-400))8969 4eea A040 sbci r26,hlo8(-(-400))8970 4eec B040 sbci r27,hhi8(-(-400))8971 4eee 8093 0000 sts SollHoehe,r248972 4ef2 9093 0000 sts (SollHoehe)+1,r258973 4ef6 A093 0000 sts (SollHoehe)+2,r268974 4efa B093 0000 sts (SollHoehe)+3,r278975 4efe 8091 0000 lds r24,EE_Parameter+228976 4f02 8823 tst r248977 4f04 01F0 breq .L7218978 4f06 9927 clr r258979 4f08 00C0 rjmp .L9048980 .L721:8981 4f0a 88E7 ldi r24,lo8(120)8982 4f0c 90E0 ldi r25,hi8(120)8983 .L904:8984 4f0e 9093 0000 sts (StickGasHover)+1,r258985 4f12 8093 0000 sts StickGasHover,r248986 4f16 E980 ldd r14,Y+18987 4f18 FA80 ldd r15,Y+28988 4f1a F092 0000 sts (HoverGas)+1,r158989 4f1e E092 0000 sts HoverGas,r148990 4f22 8EE2 ldi r24,lo8(46)8991 4f24 8093 0000 sts VarioCharacter,r248992 .L720:8993 4f28 C090 0000 lds r12,HoverGas8994 4f2c D090 0000 lds r13,(HoverGas)+18995 .L676:8996 4f30 E090 0000 lds r14,HoehenWert8997 4f34 F090 0000 lds r15,(HoehenWert)+18998 4f38 0091 0000 lds r16,(HoehenWert)+28999 4f3c 1091 0000 lds r17,(HoehenWert)+39000 4f40 2091 0000 lds r18,SollHoehe9001 4f44 3091 0000 lds r19,(SollHoehe)+19002 4f48 4091 0000 lds r20,(SollHoehe)+29003 4f4c 5091 0000 lds r21,(SollHoehe)+39004 4f50 2E15 cp r18,r149005 4f52 3F05 cpc r19,r159006 4f54 4007 cpc r20,r169007 4f56 5107 cpc r21,r179008 4f58 04F0 brlt .L7249009 4f5a 8091 0000 lds r24,Parameter_ExtraConfig9010 4f5e 80FD sbrc r24,09011 4f60 00C0 rjmp .L7829012 .L724:9013 4f62 8091 0000 lds r24,BaroExpandActive9014 4f66 9091 0000 lds r25,(BaroExpandActive)+19015 4f6a 892B or r24,r259016 4f6c 01F0 breq .L7259017 4f6e C090 0000 lds r12,HoverGas9018 4f72 D090 0000 lds r13,(HoverGas)+19019 4f76 00E0 ldi r16,lo8(0)9020 4f78 10E0 ldi r17,hi8(0)9021 4f7a 00C0 rjmp .L7269022 .L725:9023 4f7c D801 movw r26,r169024 4f7e C701 movw r24,r149025 4f80 821B sub r24,r189026 4f82 930B sbc r25,r199027 4f84 A40B sbc r26,r209028 4f86 B50B sbc r27,r219029 4f88 8093 0000 sts tmp_long.1,r249030 4f8c 9093 0000 sts (tmp_long.1)+1,r259031 4f90 A093 0000 sts (tmp_long.1)+2,r269032 4f94 B093 0000 sts (tmp_long.1)+3,r279033 4f98 8230 cpi r24,lo8(-32766)9034 4f9a 00E8 ldi r16,hi8(-32766)9035 4f9c 9007 cpc r25,r169036 4f9e 0FEF ldi r16,hlo8(-32766)9037 4fa0 A007 cpc r26,r169038 4fa2 0FEF ldi r16,hhi8(-32766)9039 4fa4 B007 cpc r27,r169040 4fa6 04F4 brge .L7279041 4fa8 81E0 ldi r24,lo8(-32767)9042 4faa 90E8 ldi r25,hi8(-32767)9043 4fac AFEF ldi r26,hlo8(-32767)9044 4fae BFEF ldi r27,hhi8(-32767)9045 4fb0 00C0 rjmp .L9059046 .L727:9047 4fb2 8F5F subi r24,lo8(32767)9048 4fb4 9F47 sbci r25,hi8(32767)9049 4fb6 A040 sbci r26,hlo8(32767)9050 4fb8 B040 sbci r27,hhi8(32767)9051 4fba 04F0 brlt .L7289052 4fbc 8FEF ldi r24,lo8(32767)9053 4fbe 9FE7 ldi r25,hi8(32767)9054 4fc0 A0E0 ldi r26,hlo8(32767)9055 4fc2 B0E0 ldi r27,hhi8(32767)9056 .L905:9057 4fc4 8093 0000 sts tmp_long.1,r249058 4fc8 9093 0000 sts (tmp_long.1)+1,r259059 4fcc A093 0000 sts (tmp_long.1)+2,r269060 4fd0 B093 0000 sts (tmp_long.1)+3,r279061 .L728:9062 4fd4 0091 0000 lds r16,tmp_long.19063 4fd8 1091 0000 lds r17,(tmp_long.1)+19064 4fdc 8091 0000 lds r24,Parameter_Hoehe_P9065 4fe0 282F mov r18,r249066 4fe2 3327 clr r199067 4fe4 4427 clr r209068 4fe6 5527 clr r219069 4fe8 8091 0000 lds r24,tmp_long.19070 4fec 9091 0000 lds r25,(tmp_long.1)+19071 4ff0 A091 0000 lds r26,(tmp_long.1)+29072 4ff4 B091 0000 lds r27,(tmp_long.1)+39073 4ff8 BC01 movw r22,r249074 4ffa CD01 movw r24,r269075 4ffc 0E94 0000 call __mulsi39076 5000 97FF sbrs r25,79077 5002 00C0 rjmp .L7309078 5004 615E subi r22,lo8(-(31))9079 5006 7F4F sbci r23,hi8(-(31))9080 5008 8F4F sbci r24,hlo8(-(31))9081 500a 9F4F sbci r25,hhi8(-(31))9082 .L730:9083 500c 25E0 ldi r18,59084 500e 9595 1: asr r259085 5010 8795 ror r249086 5012 7795 ror r239087 5014 6795 ror r229088 5016 2A95 dec r189089 5018 01F4 brne 1b9090 501a 6093 0000 sts tmp_long.1,r229091 501e 7093 0000 sts (tmp_long.1)+1,r239092 5022 8093 0000 sts (tmp_long.1)+2,r249093 5026 9093 0000 sts (tmp_long.1)+3,r259094 502a 6530 cpi r22,lo8(-507)9095 502c 2EEF ldi r18,hi8(-507)9096 502e 7207 cpc r23,r189097 5030 2FEF ldi r18,hlo8(-507)9098 5032 8207 cpc r24,r189099 5034 2FEF ldi r18,hhi8(-507)9100 5036 9207 cpc r25,r189101 5038 04F4 brge .L7319102 503a 84E0 ldi r24,lo8(-508)9103 503c 9EEF ldi r25,hi8(-508)9104 503e AFEF ldi r26,hlo8(-508)9105 5040 BFEF ldi r27,hhi8(-508)9106 5042 00C0 rjmp .L9069107 .L731:9108 5044 6050 subi r22,lo8(1024)9109 5046 7440 sbci r23,hi8(1024)9110 5048 8040 sbci r24,hlo8(1024)9111 504a 9040 sbci r25,hhi8(1024)9112 504c 04F0 brlt .L7329113 504e 80E0 ldi r24,lo8(1024)9114 5050 94E0 ldi r25,hi8(1024)9115 5052 A0E0 ldi r26,hlo8(1024)9116 5054 B0E0 ldi r27,hhi8(1024)9117 .L906:9118 5056 8093 0000 sts tmp_long.1,r249119 505a 9093 0000 sts (tmp_long.1)+1,r259120 505e A093 0000 sts (tmp_long.1)+2,r269121 5062 B093 0000 sts (tmp_long.1)+3,r279122 .L732:9123 5066 8090 0000 lds r8,tmp_long.19124 506a 9090 0000 lds r9,(tmp_long.1)+19125 506e 2091 0000 lds r18,VarioMeter9126 5072 3091 0000 lds r19,(VarioMeter)+19127 5076 37FF sbrs r19,79128 5078 00C0 rjmp .L7349129 507a 295F subi r18,lo8(-(7))9130 507c 3F4F sbci r19,hi8(-(7))9131 .L734:9132 507e 83E0 ldi r24,39133 5080 3595 1: asr r199134 5082 2795 ror r189135 5084 8A95 dec r249136 5086 01F4 brne 1b9137 5088 4FEF ldi r20,hi8(-126)9138 508a 2238 cpi r18,lo8(-126)9139 508c 3407 cpc r19,r209140 508e 04F4 brge .L7359141 5090 21E8 ldi r18,lo8(-127)9142 5092 3FEF ldi r19,hi8(-127)9143 5094 00C0 rjmp .L7369144 .L735:9145 5096 2038 cpi r18,1289146 5098 3105 cpc r19,__zero_reg__9147 509a 04F0 brlt .L7369148 509c 20E8 ldi r18,lo8(128)9149 509e 30E0 ldi r19,hi8(128)9150 .L736:9151 50a0 C901 movw r24,r189152 50a2 AA27 clr r269153 50a4 97FD sbrc r25,79154 50a6 A095 com r269155 50a8 BA2F mov r27,r269156 50aa 2091 0000 lds r18,Parameter_Luftdruck_D9157 50ae 3327 clr r199158 50b0 4427 clr r209159 50b2 5527 clr r219160 50b4 BC01 movw r22,r249161 50b6 CD01 movw r24,r269162 50b8 0E94 0000 call __mulsi39163 50bc 97FF sbrs r25,79164 50be 00C0 rjmp .L7389165 50c0 6D5F subi r22,lo8(-(3))9166 50c2 7F4F sbci r23,hi8(-(3))9167 50c4 8F4F sbci r24,hlo8(-(3))9168 50c6 9F4F sbci r25,hhi8(-(3))9169 .L738:9170 50c8 B2E0 ldi r27,29171 50ca 9595 1: asr r259172 50cc 8795 ror r249173 50ce 7795 ror r239174 50d0 6795 ror r229175 50d2 BA95 dec r279176 50d4 01F4 brne 1b9177 50d6 9B01 movw r18,r229178 50d8 5FEF ldi r21,hi8(-255)9179 50da 6130 cpi r22,lo8(-255)9180 50dc 7507 cpc r23,r219181 50de 04F4 brge .L7399182 50e0 20E0 ldi r18,lo8(-256)9183 50e2 3FEF ldi r19,hi8(-256)9184 50e4 00C0 rjmp .L7409185 .L739:9186 50e6 6F3F cpi r22,2559187 50e8 7105 cpc r23,__zero_reg__9188 50ea 01F0 breq .L7409189 50ec 04F0 brlt .L7409190 50ee 20E0 ldi r18,lo8(256)9191 50f0 31E0 ldi r19,hi8(256)9192 .L740:9193 50f2 8091 0000 lds r24,FC_StatusFlags9194 50f6 807C andi r24,lo8(-64)9195 50f8 01F0 breq .L7429196 50fa C901 movw r24,r189197 50fc 37FD sbrc r19,79198 50fe 0396 adiw r24,39199 .L743:9200 5100 9C01 movw r18,r249201 5102 3595 asr r199202 5104 2795 ror r189203 5106 3595 asr r199204 5108 2795 ror r189205 510a 00C0 rjmp .L7449206 .L742:9207 510c 8091 0000 lds r24,Parameter_ExtraConfig9208 5110 80FF sbrs r24,09209 5112 00C0 rjmp .L7449210 5114 C901 movw r24,r189211 5116 37FD sbrc r19,79212 5118 0796 adiw r24,79213 .L746:9214 511a 9C01 movw r18,r249215 511c F3E0 ldi r31,39216 511e 3595 1: asr r199217 5120 2795 ror r189218 5122 FA95 dec r319219 5124 01F4 brne 1b9220 .L744:9221 5126 820E add r8,r189222 5128 931E adc r9,r199223 .L726:9224 512a 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9225 512e 2223 tst r189226 5130 01F4 brne .+29227 5132 00C0 rjmp .L7479228 5134 6091 0000 lds r22,Mess_Integral_Hoch9229 5138 7091 0000 lds r23,(Mess_Integral_Hoch)+19230 513c 8091 0000 lds r24,(Mess_Integral_Hoch)+29231 5140 9091 0000 lds r25,(Mess_Integral_Hoch)+39232 5144 97FF sbrs r25,79233 5146 00C0 rjmp .L7489234 5148 6158 subi r22,lo8(-(127))9235 514a 7F4F sbci r23,hi8(-(127))9236 514c 8F4F sbci r24,hlo8(-(127))9237 514e 9F4F sbci r25,hhi8(-(127))9238 .L748:9239 5150 E7E0 ldi r30,79240 5152 9595 1: asr r259241 5154 8795 ror r249242 5156 7795 ror r239243 5158 6795 ror r229244 515a EA95 dec r309245 515c 01F4 brne 1b9246 515e 3327 clr r199247 5160 4427 clr r209248 5162 5527 clr r219249 5164 0E94 0000 call __mulsi39250 5168 97FF sbrs r25,79251 516a 00C0 rjmp .L7499252 516c 615E subi r22,lo8(-(31))9253 516e 7F4F sbci r23,hi8(-(31))9254 5170 8F4F sbci r24,hlo8(-(31))9255 5172 9F4F sbci r25,hhi8(-(31))9256 .L749:9257 5174 55E0 ldi r21,59258 5176 9595 1: asr r259259 5178 8795 ror r249260 517a 7795 ror r239261 517c 6795 ror r229262 517e 5A95 dec r219263 5180 01F4 brne 1b9264 5182 6093 0000 sts tmp_long.1,r229265 5186 7093 0000 sts (tmp_long.1)+1,r239266 518a 8093 0000 sts (tmp_long.1)+2,r249267 518e 9093 0000 sts (tmp_long.1)+3,r259268 5192 6138 cpi r22,lo8(-127)9269 5194 AFEF ldi r26,hi8(-127)9270 5196 7A07 cpc r23,r269271 5198 AFEF ldi r26,hlo8(-127)9272 519a 8A07 cpc r24,r269273 519c AFEF ldi r26,hhi8(-127)9274 519e 9A07 cpc r25,r269275 51a0 04F4 brge .L7509276 51a2 80E8 ldi r24,lo8(-128)9277 51a4 9FEF ldi r25,hi8(-128)9278 51a6 AFEF ldi r26,hlo8(-128)9279 51a8 BFEF ldi r27,hhi8(-128)9280 51aa 00C0 rjmp .L9079281 .L750:9282 51ac 6F3F cpi r22,lo8(255)9283 51ae 7105 cpc r23,__zero_reg__9284 51b0 8105 cpc r24,__zero_reg__9285 51b2 9105 cpc r25,__zero_reg__9286 51b4 01F0 breq .L7519287 51b6 04F0 brlt .L7519288 51b8 80E0 ldi r24,lo8(256)9289 51ba 91E0 ldi r25,hi8(256)9290 51bc A0E0 ldi r26,hlo8(256)9291 51be B0E0 ldi r27,hhi8(256)9292 .L907:9293 51c0 8093 0000 sts tmp_long.1,r249294 51c4 9093 0000 sts (tmp_long.1)+1,r259295 51c8 A093 0000 sts (tmp_long.1)+2,r269296 51cc B093 0000 sts (tmp_long.1)+3,r279297 .L751:9298 51d0 8091 0000 lds r24,tmp_long.19299 51d4 9091 0000 lds r25,(tmp_long.1)+19300 51d8 880E add r8,r249301 51da 991E adc r9,r259302 .L747:9303 51dc 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9304 51e0 282F mov r18,r249305 51e2 3327 clr r199306 51e4 8091 0000 lds r24,FromNaviCtrl_Value+49307 51e8 9927 clr r259308 51ea 87FD sbrc r24,79309 51ec 9095 com r259310 51ee 289F mul r18,r249311 51f0 F001 movw r30,r09312 51f2 299F mul r18,r259313 51f4 F00D add r31,r09314 51f6 389F mul r19,r249315 51f8 F00D add r31,r09316 51fa 1124 clr r19317 51fc 9F01 movw r18,r309318 51fe F7FF sbrs r31,79319 5200 00C0 rjmp .L7539320 5202 2158 subi r18,lo8(-(127))9321 5204 3F4F sbci r19,hi8(-(127))9322 .L753:9323 5206 220F lsl r189324 5208 232F mov r18,r199325 520a 221F rol r189326 520c 330B sbc r19,r199327 520e FFEF ldi r31,hi8(-127)9328 5210 2138 cpi r18,lo8(-127)9329 5212 3F07 cpc r19,r319330 5214 04F4 brge .L7549331 5216 20E8 ldi r18,lo8(-128)9332 5218 3FEF ldi r19,hi8(-128)9333 521a 00C0 rjmp .L7559334 .L754:9335 521c 2F3F cpi r18,2559336 521e 3105 cpc r19,__zero_reg__9337 5220 01F0 breq .L7559338 5222 04F0 brlt .L7559339 5224 20E0 ldi r18,lo8(256)9340 5226 31E0 ldi r19,hi8(256)9341 .L755:9342 5228 820E add r8,r189343 522a 931E adc r9,r199344 522c C401 movw r24,r89345 522e AA27 clr r269346 5230 97FD sbrc r25,79347 5232 A095 com r269348 5234 BA2F mov r27,r269349 5236 E090 0000 lds r14,HoverGas9350 523a F090 0000 lds r15,(HoverGas)+19351 523e 9701 movw r18,r149352 5240 4427 clr r209353 5242 37FD sbrc r19,79354 5244 4095 com r209355 5246 542F mov r21,r209356 5248 BC01 movw r22,r249357 524a CD01 movw r24,r269358 524c 0E94 0000 call __mulsi39359 5250 97FF sbrs r25,79360 5252 00C0 rjmp .L7579361 5254 6150 subi r22,lo8(-(511))9362 5256 7E4F sbci r23,hi8(-(511))9363 5258 8F4F sbci r24,hlo8(-(511))9364 525a 9F4F sbci r25,hhi8(-(511))9365 .L757:9366 525c 29E0 ldi r18,99367 525e 9595 1: asr r259368 5260 8795 ror r249369 5262 7795 ror r239370 5264 6795 ror r229371 5266 2A95 dec r189372 5268 01F4 brne 1b9373 526a C61A sub r12,r229374 526c D70A sbc r13,r239375 526e 8091 0000 lds r24,AltitudeSetpointTrimming9376 5272 9091 0000 lds r25,(AltitudeSetpointTrimming)+19377 5276 892B or r24,r259378 5278 01F0 breq .+29379 527a 00C0 rjmp .L7589380 527c 1E14 cp __zero_reg__,r149381 527e 1F04 cpc __zero_reg__,r159382 5280 04F0 brlt .+29383 5282 00C0 rjmp .L7589384 5284 9801 movw r18,r169385 5286 17FF sbrs r17,79386 5288 00C0 rjmp .L7599387 528a 3095 com r199388 528c 2195 neg r189389 528e 3F4F sbci r19,lo8(-1)9390 .L759:9391 5290 2D33 cpi r18,619392 5292 3105 cpc r19,__zero_reg__9393 5294 00F4 brsh .L7609394 5296 8091 0000 lds r24,HoverGasMin9395 529a 9091 0000 lds r25,(HoverGasMin)+19396 529e 8C15 cp r24,r129397 52a0 9D05 cpc r25,r139398 52a2 04F4 brge .L9099399 52a4 00C0 rjmp .L9189400 .L760:9401 52a6 2C53 subi r18,lo8(-(-60))9402 52a8 3040 sbci r19,hi8(-(-60))9403 52aa 85E0 ldi r24,59404 52ac 3695 1: lsr r199405 52ae 2795 ror r189406 52b0 8A95 dec r249407 52b2 01F4 brne 1b9408 52b4 2031 cpi r18,169409 52b6 3105 cpc r19,__zero_reg__9410 52b8 00F0 brlo .L7659411 52ba 2FE0 ldi r18,lo8(15)9412 52bc 30E0 ldi r19,hi8(15)9413 .L765:9414 52be 4091 0000 lds r20,HoverGasMin9415 52c2 5091 0000 lds r21,(HoverGasMin)+19416 52c6 1016 cp __zero_reg__,r169417 52c8 1106 cpc __zero_reg__,r179418 52ca 04F4 brge .L7669419 52cc 80E1 ldi r24,lo8(16)9420 52ce 90E0 ldi r25,hi8(16)9421 52d0 821B sub r24,r189422 52d2 930B sbc r25,r199423 52d4 489F mul r20,r249424 52d6 9001 movw r18,r09425 52d8 499F mul r20,r259426 52da 300D add r19,r09427 52dc 589F mul r21,r249428 52de 300D add r19,r09429 52e0 1124 clr r19430 52e2 B4E0 ldi r27,49431 52e4 3695 1: lsr r199432 52e6 2795 ror r189433 52e8 BA95 dec r279434 52ea 01F4 brne 1b9435 52ec 2C15 cp r18,r129436 52ee 3D05 cpc r19,r139437 52f0 00F4 brsh .L9089438 .L918:9439 52f2 8091 0000 lds r24,HoverGasMax9440 52f6 9091 0000 lds r25,(HoverGasMax)+19441 52fa C816 cp r12,r249442 52fc D906 cpc r13,r259443 52fe 04F0 brlt .L7589444 .L909:9445 5300 6C01 movw r12,r249446 5302 00C0 rjmp .L7589447 .L766:9448 5304 205F subi r18,lo8(-(16))9449 5306 3F4F sbci r19,hi8(-(16))9450 5308 8091 0000 lds r24,HoverGasMax9451 530c 9091 0000 lds r25,(HoverGasMax)+19452 5310 829F mul r24,r189453 5312 8001 movw r16,r09454 5314 839F mul r24,r199455 5316 100D add r17,r09456 5318 929F mul r25,r189457 531a 100D add r17,r09458 531c 1124 clr r19459 531e 9801 movw r18,r169460 5320 A4E0 ldi r26,49461 5322 3695 1: lsr r199462 5324 2795 ror r189463 5326 AA95 dec r269464 5328 01F4 brne 1b9465 532a 4C15 cp r20,r129466 532c 5D05 cpc r21,r139467 532e 04F0 brlt .L7719468 5330 6A01 movw r12,r209469 5332 00C0 rjmp .L7589470 .L771:9471 5334 C216 cp r12,r189472 5336 D306 cpc r13,r199473 5338 00F0 brlo .L7589474 .L908:9475 533a 6901 movw r12,r189476 .L758:9477 533c C601 movw r24,r129478 533e AA27 clr r269479 5340 97FD sbrc r25,79480 5342 A095 com r269481 5344 BA2F mov r27,r269482 5346 FDE0 ldi r31,139483 5348 880F 1: lsl r249484 534a 991F rol r259485 534c AA1F rol r269486 534e BB1F rol r279487 5350 FA95 dec r319488 5352 01F4 brne 1b9489 5354 9501 movw r18,r109490 5356 4427 clr r209491 5358 37FD sbrc r19,79492 535a 4095 com r209493 535c 542F mov r21,r209494 535e BC01 movw r22,r249495 5360 CD01 movw r24,r269496 5362 0E94 0000 call __divmodsi49497 5366 2093 0000 sts tmp_long2.2,r189498 536a 3093 0000 sts (tmp_long2.2)+1,r199499 536e 4093 0000 sts (tmp_long2.2)+2,r209500 5372 5093 0000 sts (tmp_long2.2)+3,r219501 5376 C090 0000 lds r12,tmp_long2.29502 537a D090 0000 lds r13,(tmp_long2.2)+19503 537e 8091 0000 lds r24,FilterHCGas.229504 5382 9091 0000 lds r25,(FilterHCGas.22)+19505 5386 9C01 movw r18,r249506 5388 220F lsl r189507 538a 331F rol r199508 538c 280F add r18,r249509 538e 391F adc r19,r259510 5390 2C0D add r18,r129511 5392 3D1D adc r19,r139512 5394 37FF sbrs r19,79513 5396 00C0 rjmp .L7749514 5398 2D5F subi r18,lo8(-(3))9515 539a 3F4F sbci r19,hi8(-(3))9516 .L774:9517 539c A901 movw r20,r189518 539e 5595 asr r219519 53a0 4795 ror r209520 53a2 5595 asr r219521 53a4 4795 ror r209522 53a6 5093 0000 sts (FilterHCGas.22)+1,r219523 53aa 4093 0000 sts FilterHCGas.22,r209524 53ae 8091 0000 lds r24,EE_Parameter+149525 53b2 282F mov r18,r249526 53b4 3327 clr r199527 53b6 220F lsl r189528 53b8 331F rol r199529 53ba 220F lsl r189530 53bc 331F rol r199531 53be 2417 cp r18,r209532 53c0 3507 cpc r19,r219533 53c2 04F4 brge .L9109534 53c4 8091 0000 lds r24,MAX_GAS9535 53c8 282F mov r18,r249536 53ca 3327 clr r199537 53cc 220F lsl r189538 53ce 331F rol r199539 53d0 220F lsl r189540 53d2 331F rol r199541 53d4 2055 subi r18,lo8(-(-80))9542 53d6 3040 sbci r19,hi8(-(-80))9543 53d8 4217 cp r20,r189544 53da 5307 cpc r21,r199545 53dc 04F0 brlt .L7769546 .L910:9547 53de 3093 0000 sts (FilterHCGas.22)+1,r199548 53e2 2093 0000 sts FilterHCGas.22,r189549 .L776:9550 53e6 8091 0000 lds r24,Parameter_ExtraConfig9551 53ea 80FF sbrs r24,09552 53ec 00C0 rjmp .L7789553 53ee 8091 0000 lds r24,FilterHCGas.229554 53f2 9091 0000 lds r25,(FilterHCGas.22)+19555 53f6 2981 ldd r18,Y+19556 53f8 3A81 ldd r19,Y+29557 53fa 8217 cp r24,r189558 53fc 9307 cpc r25,r199559 53fe 04F0 brlt .L7799560 5400 3093 0000 sts (FilterHCGas.22)+1,r199561 5404 2093 0000 sts FilterHCGas.22,r189562 .L779:9563 5408 4091 0000 lds r20,FilterHCGas.229564 540c 5091 0000 lds r21,(FilterHCGas.22)+19565 5410 5A83 std Y+2,r219566 5412 4983 std Y+1,r209567 5414 00C0 rjmp .L7829568 .L778:9569 5416 2981 ldd r18,Y+19570 5418 3A81 ldd r19,Y+29571 541a 2E19 sub r18,r149572 541c 3F09 sbc r19,r159573 541e 37FF sbrs r19,79574 5420 00C0 rjmp .L7819575 5422 2D5F subi r18,lo8(-(3))9576 5424 3F4F sbci r19,hi8(-(3))9577 .L781:9578 5426 3595 asr r199579 5428 2795 ror r189580 542a 3595 asr r199581 542c 2795 ror r189582 542e 6091 0000 lds r22,FilterHCGas.229583 5432 7091 0000 lds r23,(FilterHCGas.22)+19584 5436 620F add r22,r189585 5438 731F adc r23,r199586 543a 7A83 std Y+2,r239587 543c 6983 std Y+1,r229588 543e 00C0 rjmp .L7829589 .L673:9590 5440 8091 0000 lds r24,EE_Parameter+229591 5444 8823 tst r249592 5446 01F4 brne .L7839593 5448 6091 0000 lds r22,HoverGas9594 544c 7091 0000 lds r23,(HoverGas)+19595 5450 77FF sbrs r23,79596 5452 00C0 rjmp .L7849597 5454 6D5F subi r22,lo8(-(3))9598 5456 7F4F sbci r23,hi8(-(3))9599 .L784:9600 5458 7595 asr r239601 545a 6795 ror r229602 545c 7595 asr r239603 545e 6795 ror r229604 5460 4091 0000 lds r20,UBat9605 5464 5091 0000 lds r21,(UBat)+19606 5468 8091 0000 lds r24,BattLowVoltageWarning9607 546c 282F mov r18,r249608 546e 3327 clr r199609 5470 649F mul r22,r209610 5472 C001 movw r24,r09611 5474 659F mul r22,r219612 5476 900D add r25,r09613 5478 749F mul r23,r209614 547a 900D add r25,r09615 547c 1124 clr r19616 547e B901 movw r22,r189617 5480 0E94 0000 call __divmodhi49618 5484 CB01 movw r24,r229619 5486 00C0 rjmp .L9119620 .L783:9621 5488 9927 clr r259622 .L911:9623 548a 9093 0000 sts (StickGasHover)+1,r259624 548e 8093 0000 sts StickGasHover,r249625 5492 8091 0000 lds r24,StickGasHover9626 5496 9091 0000 lds r25,(StickGasHover)+19627 549a 8734 cpi r24,719628 549c 9105 cpc r25,__zero_reg__9629 549e 04F4 brge .L7869630 54a0 86E4 ldi r24,lo8(70)9631 54a2 90E0 ldi r25,hi8(70)9632 54a4 00C0 rjmp .L9129633 .L786:9634 54a6 8639 cpi r24,1509635 54a8 9105 cpc r25,__zero_reg__9636 54aa 04F0 brlt .L7879637 54ac 86E9 ldi r24,lo8(150)9638 54ae 90E0 ldi r25,hi8(150)9639 .L912:9640 54b0 9093 0000 sts (StickGasHover)+1,r259641 54b4 8093 0000 sts StickGasHover,r249642 .L787:9643 54b8 8981 ldd r24,Y+19644 54ba 9A81 ldd r25,Y+29645 54bc 9093 0000 sts (FilterHCGas.22)+1,r259646 54c0 8093 0000 sts FilterHCGas.22,r249647 54c4 8091 0000 lds r24,FC_StatusFlags9648 54c8 806C ori r24,lo8(-64)9649 54ca 8093 0000 sts FC_StatusFlags,r249650 54ce 8091 0000 lds r24,FC_StatusFlags29651 54d2 8D7F andi r24,lo8(-3)9652 54d4 8093 0000 sts FC_StatusFlags2,r249653 .L782:9654 54d8 8091 0000 lds r24,FC_StatusFlags9655 54dc 9927 clr r259656 54de 9C01 movw r18,r249657 54e0 2270 andi r18,lo8(2)9658 54e2 3070 andi r19,hi8(2)9659 54e4 81FF sbrs r24,19660 54e6 00C0 rjmp .L7899661 54e8 8091 0000 lds r24,HoverGasFilter.239662 54ec 9091 0000 lds r25,(HoverGasFilter.23)+19663 54f0 A091 0000 lds r26,(HoverGasFilter.23)+29664 54f4 B091 0000 lds r27,(HoverGasFilter.23)+39665 54f8 0097 sbiw r24,09666 54fa A105 cpc r26,__zero_reg__9667 54fc B105 cpc r27,__zero_reg__9668 54fe 01F0 breq .L7919669 5500 8091 0000 lds r24,StartTrigger9670 5504 8130 cpi r24,lo8(1)9671 5506 01F4 brne .L7909672 .L791:9673 5508 E981 ldd r30,Y+19674 550a FA81 ldd r31,Y+29675 550c CF01 movw r24,r309676 550e AA27 clr r269677 5510 97FD sbrc r25,79678 5512 A095 com r269679 5514 BA2F mov r27,r269680 5516 1EE0 ldi r17,149681 5518 880F 1: lsl r249682 551a 991F rol r259683 551c AA1F rol r269684 551e BB1F rol r279685 5520 1A95 dec r179686 5522 01F4 brne 1b9687 5524 8093 0000 sts HoverGasFilter.23,r249688 5528 9093 0000 sts (HoverGasFilter.23)+1,r259689 552c A093 0000 sts (HoverGasFilter.23)+2,r269690 5530 B093 0000 sts (HoverGasFilter.23)+3,r279691 .L790:9692 5534 8091 0000 lds r24,StartTrigger9693 5538 8130 cpi r24,lo8(1)9694 553a 01F4 brne .L7929695 553c 82E0 ldi r24,lo8(2)9696 553e 8093 0000 sts StartTrigger,r249697 .L792:9698 5542 E980 ldd r14,Y+19699 5544 FA80 ldd r15,Y+29700 5546 C701 movw r24,r149701 5548 AA27 clr r269702 554a 97FD sbrc r25,79703 554c A095 com r269704 554e BA2F mov r27,r269705 5550 9501 movw r18,r109706 5552 4427 clr r209707 5554 37FD sbrc r19,79708 5556 4095 com r209709 5558 542F mov r21,r209710 555a BC01 movw r22,r249711 555c CD01 movw r24,r269712 555e 0E94 0000 call __mulsi39713 5562 DC01 movw r26,r249714 5564 CB01 movw r24,r229715 5566 8093 0000 sts tmp_long2.2,r249716 556a 9093 0000 sts (tmp_long2.2)+1,r259717 556e A093 0000 sts (tmp_long2.2)+2,r269718 5572 B093 0000 sts (tmp_long2.2)+3,r279719 5576 B7FF sbrs r27,79720 5578 00C0 rjmp .L7939721 557a 8150 subi r24,lo8(-(8191))9722 557c 904E sbci r25,hi8(-(8191))9723 557e AF4F sbci r26,hlo8(-(8191))9724 5580 BF4F sbci r27,hhi8(-(8191))9725 .L793:9726 5582 7C01 movw r14,r249727 5584 8D01 movw r16,r269728 5586 ADE0 ldi r26,139729 5588 1595 1: asr r179730 558a 0795 ror r169731 558c F794 ror r159732 558e E794 ror r149733 5590 AA95 dec r269734 5592 01F4 brne 1b9735 5594 E092 0000 sts tmp_long2.2,r149736 5598 F092 0000 sts (tmp_long2.2)+1,r159737 559c 0093 0000 sts (tmp_long2.2)+2,r169738 55a0 1093 0000 sts (tmp_long2.2)+3,r179739 55a4 6091 0000 lds r22,modell_fliegt9740 55a8 7091 0000 lds r23,(modell_fliegt)+19741 55ac 2FE0 ldi r18,hi8(4000)9742 55ae 603A cpi r22,lo8(4000)9743 55b0 7207 cpc r23,r189744 55b2 00F4 brsh .L7949745 55b4 8091 0000 lds r24,HoverGasFilter.239746 55b8 9091 0000 lds r25,(HoverGasFilter.23)+19747 55bc A091 0000 lds r26,(HoverGasFilter.23)+29748 55c0 B091 0000 lds r27,(HoverGasFilter.23)+39749 55c4 9C01 movw r18,r249750 55c6 AD01 movw r20,r269751 55c8 FAE0 ldi r31,109752 55ca 5695 1: lsr r219753 55cc 4795 ror r209754 55ce 3795 ror r199755 55d0 2795 ror r189756 55d2 FA95 dec r319757 55d4 01F4 brne 1b9758 55d6 821B sub r24,r189759 55d8 930B sbc r25,r199760 55da A40B sbc r26,r209761 55dc B50B sbc r27,r219762 55de A801 movw r20,r169763 55e0 9701 movw r18,r149764 55e2 E4E0 ldi r30,49765 55e4 220F 1: lsl r189766 55e6 331F rol r199767 55e8 441F rol r209768 55ea 551F rol r219769 55ec EA95 dec r309770 55ee 01F4 brne 1b9771 55f0 820F add r24,r189772 55f2 931F adc r25,r199773 55f4 A41F adc r26,r209774 55f6 B51F adc r27,r219775 55f8 8093 0000 sts HoverGasFilter.23,r249776 55fc 9093 0000 sts (HoverGasFilter.23)+1,r259777 5600 A093 0000 sts (HoverGasFilter.23)+2,r269778 5604 B093 0000 sts (HoverGasFilter.23)+3,r279779 .L794:9780 5608 6054 subi r22,lo8(8000)9781 560a 7F41 sbci r23,hi8(8000)9782 560c 00F4 brsh .L7959783 560e 8091 0000 lds r24,HoverGasFilter.239784 5612 9091 0000 lds r25,(HoverGasFilter.23)+19785 5616 A091 0000 lds r26,(HoverGasFilter.23)+29786 561a B091 0000 lds r27,(HoverGasFilter.23)+39787 561e 9C01 movw r18,r249788 5620 AD01 movw r20,r269789 5622 6CE0 ldi r22,129790 5624 5695 1: lsr r219791 5626 4795 ror r209792 5628 3795 ror r199793 562a 2795 ror r189794 562c 6A95 dec r229795 562e 01F4 brne 1b9796 5630 821B sub r24,r189797 5632 930B sbc r25,r199798 5634 A40B sbc r26,r209799 5636 B50B sbc r27,r219800 5638 A801 movw r20,r169801 563a 9701 movw r18,r149802 563c F2E0 ldi r31,29803 563e 220F 1: lsl r189804 5640 331F rol r199805 5642 441F rol r209806 5644 551F rol r219807 5646 FA95 dec r319808 5648 01F4 brne 1b9809 564a 820F add r24,r189810 564c 931F adc r25,r199811 564e A41F adc r26,r209812 5650 B51F adc r27,r219813 5652 00C0 rjmp .L9139814 .L795:9815 5654 8091 0000 lds r24,VarioMeter9816 5658 9091 0000 lds r25,(VarioMeter)+19817 565c 8091 0000 lds r24,VarioMeter9818 5660 9091 0000 lds r25,(VarioMeter)+19819 5664 97FF sbrs r25,79820 5666 00C0 rjmp .L7989821 5668 9095 com r259822 566a 8195 neg r249823 566c 9F4F sbci r25,lo8(-1)9824 .L798:9825 566e 8436 cpi r24,1009826 5670 9105 cpc r25,__zero_reg__9827 5672 04F4 brge .L7969828 5674 8091 0000 lds r24,HoehenWert9829 5678 9091 0000 lds r25,(HoehenWert)+19830 567c 2091 0000 lds r18,SollHoehe9831 5680 3091 0000 lds r19,(SollHoehe)+19832 5684 821B sub r24,r189833 5686 930B sbc r25,r199834 5688 8150 subi r24,lo8(-(255))9835 568a 9F4F sbci r25,hi8(-(255))9836 568c 8F5F subi r24,lo8(511)9837 568e 9140 sbci r25,hi8(511)9838 5690 00F4 brsh .L7969839 5692 8091 0000 lds r24,HoverGasFilter.239840 5696 9091 0000 lds r25,(HoverGasFilter.23)+19841 569a A091 0000 lds r26,(HoverGasFilter.23)+29842 569e B091 0000 lds r27,(HoverGasFilter.23)+39843 56a2 9C01 movw r18,r249844 56a4 AD01 movw r20,r269845 56a6 EEE0 ldi r30,149846 56a8 5695 1: lsr r219847 56aa 4795 ror r209848 56ac 3795 ror r199849 56ae 2795 ror r189850 56b0 EA95 dec r309851 56b2 01F4 brne 1b9852 56b4 821B sub r24,r189853 56b6 930B sbc r25,r199854 56b8 A40B sbc r26,r209855 56ba B50B sbc r27,r219856 56bc 8E0D add r24,r149857 56be 9F1D adc r25,r159858 56c0 A01F adc r26,r169859 56c2 B11F adc r27,r179860 .L913:9861 56c4 8093 0000 sts HoverGasFilter.23,r249862 56c8 9093 0000 sts (HoverGasFilter.23)+1,r259863 56cc A093 0000 sts (HoverGasFilter.23)+2,r269864 56d0 B093 0000 sts (HoverGasFilter.23)+3,r279865 .L796:9866 56d4 8091 0000 lds r24,HoverGasFilter.239867 56d8 9091 0000 lds r25,(HoverGasFilter.23)+19868 56dc A091 0000 lds r26,(HoverGasFilter.23)+29869 56e0 B091 0000 lds r27,(HoverGasFilter.23)+39870 56e4 7EE0 ldi r23,149871 56e6 B695 1: lsr r279872 56e8 A795 ror r269873 56ea 9795 ror r259874 56ec 8795 ror r249875 56ee 7A95 dec r239876 56f0 01F4 brne 1b9877 56f2 9093 0000 sts (HoverGas)+1,r259878 56f6 8093 0000 sts HoverGas,r249879 56fa 4091 0000 lds r20,EE_Parameter+209880 56fe 4423 tst r209881 5700 01F0 breq .L7999882 5702 5527 clr r219883 5704 9C01 movw r18,r249884 5706 BA01 movw r22,r209885 5708 0E94 0000 call __divmodhi49886 570c C901 movw r24,r189887 570e 861B sub r24,r229888 5710 970B sbc r25,r239889 5712 9093 0000 sts (HoverGasMin)+1,r259890 5716 8093 0000 sts HoverGasMin,r249891 571a 260F add r18,r229892 571c 371F adc r19,r239893 571e 3093 0000 sts (HoverGasMax)+1,r199894 5722 2093 0000 sts HoverGasMax,r189895 5726 00C0 rjmp .L8029896 .L799:9897 5728 1092 0000 sts (HoverGasMin)+1,__zero_reg__9898 572c 1092 0000 sts HoverGasMin,__zero_reg__9899 5730 8FEF ldi r24,lo8(1023)9900 5732 93E0 ldi r25,hi8(1023)9901 5734 9093 0000 sts (HoverGasMax)+1,r259902 5738 8093 0000 sts HoverGasMax,r249903 573c 00C0 rjmp .L8029904 .L789:9905 573e 1092 0000 sts StartTrigger,__zero_reg__9906 5742 1092 0000 sts HoverGasFilter.23,__zero_reg__9907 5746 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9908 574a 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9909 574e 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9910 5752 3093 0000 sts (HoverGas)+1,r199911 5756 2093 0000 sts HoverGas,r189912 575a 00C0 rjmp .L8029913 .L653:9914 575c 8091 0000 lds r24,FC_StatusFlags9915 5760 806C ori r24,lo8(-64)9916 5762 8093 0000 sts FC_StatusFlags,r249917 .L802:9918 5766 8091 0000 lds r24,NC_To_FC_Flags9919 576a 81FF sbrs r24,19920 576c 00C0 rjmp .L8039921 576e 8981 ldd r24,Y+19922 5770 9A81 ldd r25,Y+29923 5772 97FD sbrc r25,79924 5774 0396 adiw r24,39925 .L805:9926 5776 9595 asr r259927 5778 8795 ror r249928 577a 9595 asr r259929 577c 8795 ror r249930 577e 2091 0000 lds r18,HooverGasEmergencyPercent9931 5782 3091 0000 lds r19,(HooverGasEmergencyPercent)+19932 5786 2817 cp r18,r249933 5788 3907 cpc r19,r259934 578a 00F4 brsh .L8049935 578c 8091 0000 lds r24,HoverGas9936 5790 9091 0000 lds r25,(HoverGas)+19937 5794 892B or r24,r259938 5796 01F0 breq .L8049939 5798 220F lsl r189940 579a 331F rol r199941 579c 220F lsl r189942 579e 331F rol r199943 57a0 3A83 std Y+2,r199944 57a2 2983 std Y+1,r189945 .L804:9946 57a4 8091 0000 lds r24,HoehenWert9947 57a8 9091 0000 lds r25,(HoehenWert)+19948 57ac A091 0000 lds r26,(HoehenWert)+29949 57b0 B091 0000 lds r27,(HoehenWert)+39950 57b4 8093 0000 sts SollHoehe,r249951 57b8 9093 0000 sts (SollHoehe)+1,r259952 57bc A093 0000 sts (SollHoehe)+2,r269953 57c0 B093 0000 sts (SollHoehe)+3,r279954 57c4 88E9 ldi r24,lo8(15000)9955 57c6 9AE3 ldi r25,hi8(15000)9956 57c8 9093 0000 sts (beeptime)+1,r259957 57cc 8093 0000 sts beeptime,r249958 57d0 80E0 ldi r24,lo8(3584)9959 57d2 9EE0 ldi r25,hi8(3584)9960 57d4 9093 0000 sts (BeepMuster)+1,r259961 57d8 8093 0000 sts BeepMuster,r249962 .L803:9963 57dc 2091 0000 lds r18,MIN_GAS9964 57e0 822F mov r24,r189965 57e2 9927 clr r259966 57e4 880F lsl r249967 57e6 991F rol r259968 57e8 880F lsl r249969 57ea 991F rol r259970 57ec 8896 adiw r24,409971 57ee 6981 ldd r22,Y+19972 57f0 7A81 ldd r23,Y+29973 57f2 8617 cp r24,r229974 57f4 9707 cpc r25,r239975 57f6 04F0 brlt .L8069976 57f8 9A83 std Y+2,r259977 57fa 8983 std Y+1,r249978 .L806:9979 57fc 7091 0000 lds r23,MAX_GAS9980 5800 7D8B std Y+21,r239981 5802 872F mov r24,r239982 5804 9927 clr r259983 5806 880F lsl r249984 5808 991F rol r259985 580a 880F lsl r249986 580c 991F rol r259987 580e 8055 subi r24,lo8(-(-80))9988 5810 9040 sbci r25,hi8(-(-80))9989 5812 A981 ldd r26,Y+19990 5814 BA81 ldd r27,Y+29991 5816 8A17 cp r24,r269992 5818 9B07 cpc r25,r279993 581a 04F4 brge .L8079994 581c 9A83 std Y+2,r259995 581e 8983 std Y+1,r249996 .L807:9997 5820 8091 0000 lds r24,MissingMotor9998 5824 8823 tst r249999 5826 01F4 brne .L80910000 5828 8091 0000 lds r24,Capacity+610001 582c 8F3F cpi r24,lo8(-1)10002 582e 01F4 brne .L80910003 5830 8091 0000 lds r24,NC_ErrorCode10004 5834 8823 tst r2410005 5836 01F0 breq .L80810006 .L809:10007 5838 8091 0000 lds r24,modell_fliegt10008 583c 9091 0000 lds r25,(modell_fliegt)+110009 5840 0297 sbiw r24,210010 5842 C097 sbiw r24,4810011 5844 00F4 brsh .L80810012 5846 E981 ldd r30,Y+110013 5848 FA81 ldd r31,Y+210014 584a 1E16 cp __zero_reg__,r3010015 584c 1F06 cpc __zero_reg__,r3110016 584e 04F4 brge .L80810017 5850 81E0 ldi r24,lo8(1)10018 5852 90E0 ldi r25,hi8(1)10019 5854 9093 0000 sts (modell_fliegt)+1,r2510020 5858 8093 0000 sts modell_fliegt,r2410021 585c E22E mov r14,r1810022 585e FF24 clr r1510023 5860 EE0C lsl r1410024 5862 FF1C rol r1510025 5864 EE0C lsl r1410026 5866 FF1C rol r1510027 5868 8701 movw r16,r1410028 586a 085D subi r16,lo8(-(40))10029 586c 1F4F sbci r17,hi8(-(40))10030 586e 1A83 std Y+2,r1710031 5870 0983 std Y+1,r1610032 .L808:10033 5872 2981 ldd r18,Y+110034 5874 3A81 ldd r19,Y+210035 5876 3093 0000 sts (DebugOut+16)+1,r1910036 587a 2093 0000 sts DebugOut+16,r1810037 587e 8091 0000 lds r24,sollGier.010038 5882 9091 0000 lds r25,(sollGier.0)+110039 5886 A091 0000 lds r26,(sollGier.0)+210040 588a B091 0000 lds r27,(sollGier.0)+310041 588e 12E0 ldi r17,210042 5890 880F 1: lsl r2410043 5892 991F rol r2510044 5894 AA1F rol r2610045 5896 BB1F rol r2710046 5898 1A95 dec r1710047 589a 01F4 brne 1b10048 589c 0091 0000 lds r16,MesswertGier10049 58a0 1091 0000 lds r17,(MesswertGier)+110050 58a4 081B sub r16,r2410051 58a6 190B sbc r17,r2510052 58a8 213A cpi r18,16110053 58aa 3105 cpc r19,__zero_reg__10054 58ac 04F0 brlt .L81110055 58ae C901 movw r24,r1810056 58b0 37FD sbrc r19,710057 58b2 0196 adiw r24,110058 .L813:10059 58b4 9595 asr r2510060 58b6 8795 ror r2410061 58b8 8017 cp r24,r1610062 58ba 9107 cpc r25,r1710063 58bc 04F4 brge .L81210064 58be 8C01 movw r16,r2410065 .L812:10066 58c0 9095 com r2510067 58c2 8195 neg r2410068 58c4 9F4F sbci r25,lo8(-1)10069 58c6 0817 cp r16,r2410070 58c8 1907 cpc r17,r2510071 58ca 04F4 brge .L81810072 58cc 8C01 movw r16,r2410073 58ce 00C0 rjmp .L81810074 .L811:10075 58d0 0135 cpi r16,8110076 58d2 1105 cpc r17,__zero_reg__10077 58d4 04F0 brlt .L81910078 58d6 00E5 ldi r16,lo8(80)10079 58d8 10E0 ldi r17,hi8(80)10080 .L819:10081 58da 3FEF ldi r19,hi8(-80)10082 58dc 003B cpi r16,lo8(-80)10083 58de 1307 cpc r17,r1910084 58e0 04F4 brge .L81810085 58e2 00EB ldi r16,lo8(-80)10086 58e4 1FEF ldi r17,hi8(-80)10087 .L818:10088 58e6 4D89 ldd r20,Y+2110089 58e8 242F mov r18,r2010090 58ea 3327 clr r1910091 58ec 220F lsl r1810092 58ee 331F rol r1910093 58f0 220F lsl r1810094 58f2 331F rol r1910095 58f4 C901 movw r24,r1810096 58f6 6981 ldd r22,Y+110097 58f8 7A81 ldd r23,Y+210098 58fa 861B sub r24,r2210099 58fc 970B sbc r25,r2310100 58fe 8017 cp r24,r1610101 5900 9107 cpc r25,r1710102 5902 04F4 brge .L82110103 5904 8C01 movw r16,r2410104 .L821:10105 5906 8981 ldd r24,Y+110106 5908 9A81 ldd r25,Y+210107 590a 821B sub r24,r1810108 590c 930B sbc r25,r1910109 590e 0817 cp r16,r2410110 5910 1907 cpc r17,r2510111 5912 04F4 brge .L82210112 5914 8C01 movw r16,r2410113 .L822:10114 5916 8091 0000 lds r24,MesswertNick10115 591a 9091 0000 lds r25,(MesswertNick)+110116 591e 6091 0000 lds r22,StickNick10117 5922 7091 0000 lds r23,(StickNick)+110118 5926 861B sub r24,r2210119 5928 970B sbc r25,r2310120 592a 9093 0000 sts (DiffNick)+1,r2510121 592e 8093 0000 sts DiffNick,r2410122 5932 D090 0000 lds r13,IntegralFaktor10123 5936 2091 0000 lds r18,SummeNick10124 593a 3091 0000 lds r19,(SummeNick)+110125 593e 4091 0000 lds r20,(SummeNick)+210126 5942 5091 0000 lds r21,(SummeNick)+310127 5946 DD20 tst r1310128 5948 01F0 breq .L82310129 594a 661A sub r6,r2210130 594c 770A sbc r7,r2310131 594e C301 movw r24,r610132 5950 AA27 clr r2610133 5952 97FD sbrc r25,710134 5954 A095 com r2610135 5956 BA2F mov r27,r2610136 5958 00C0 rjmp .L91410137 .L823:10138 595a AA27 clr r2610139 595c 97FD sbrc r25,710140 595e A095 com r2610141 5960 BA2F mov r27,r2610142 .L914:10143 5962 280F add r18,r2410144 5964 391F adc r19,r2510145 5966 4A1F adc r20,r2610146 5968 5B1F adc r21,r2710147 596a 2093 0000 sts SummeNick,r1810148 596e 3093 0000 sts (SummeNick)+1,r1910149 5972 4093 0000 sts (SummeNick)+2,r2010150 5976 5093 0000 sts (SummeNick)+3,r2110151 597a 8091 0000 lds r24,SummeNick10152 597e 9091 0000 lds r25,(SummeNick)+110153 5982 A091 0000 lds r26,(SummeNick)+210154 5986 B091 0000 lds r27,(SummeNick)+310155 598a 8150 subi r24,lo8(64001)10156 598c 9A4F sbci r25,hi8(64001)10157 598e A040 sbci r26,hlo8(64001)10158 5990 B040 sbci r27,hhi8(64001)10159 5992 04F0 brlt .L82510160 5994 80E0 ldi r24,lo8(64000)10161 5996 9AEF ldi r25,hi8(64000)10162 5998 A0E0 ldi r26,hlo8(64000)10163 599a B0E0 ldi r27,hhi8(64000)10164 599c 8093 0000 sts SummeNick,r2410165 59a0 9093 0000 sts (SummeNick)+1,r2510166 59a4 A093 0000 sts (SummeNick)+2,r2610167 59a8 B093 0000 sts (SummeNick)+3,r2710168 .L825:10169 59ac 8091 0000 lds r24,SummeNick10170 59b0 9091 0000 lds r25,(SummeNick)+110171 59b4 A091 0000 lds r26,(SummeNick)+210172 59b8 B091 0000 lds r27,(SummeNick)+310173 59bc 8050 subi r24,lo8(-64000)10174 59be 9640 sbci r25,hi8(-64000)10175 59c0 AF4F sbci r26,hlo8(-64000)10176 59c2 BF4F sbci r27,hhi8(-64000)10177 59c4 04F4 brge .L82610178 59c6 80E0 ldi r24,lo8(-64000)10179 59c8 96E0 ldi r25,hi8(-64000)10180 59ca AFEF ldi r26,hlo8(-64000)10181 59cc BFEF ldi r27,hhi8(-64000)10182 59ce 8093 0000 sts SummeNick,r2410183 59d2 9093 0000 sts (SummeNick)+1,r2510184 59d6 A093 0000 sts (SummeNick)+2,r2610185 59da B093 0000 sts (SummeNick)+3,r2710186 .L826:10187 59de C090 0000 lds r12,EE_Parameter+3510188 59e2 2091 0000 lds r18,DiffNick10189 59e6 3091 0000 lds r19,(DiffNick)+110190 59ea 78E0 ldi r23,lo8(8)10191 59ec E72E mov r14,r2310192 59ee EC14 cp r14,r1210193 59f0 00F0 brlo .L82710194 59f2 8C2D mov r24,r1210195 59f4 9927 clr r2510196 59f6 829F mul r24,r1810197 59f8 A001 movw r20,r010198 59fa 839F mul r24,r1910199 59fc 500D add r21,r010200 59fe 929F mul r25,r1810201 5a00 500D add r21,r010202 5a02 1124 clr r110203 5a04 CA01 movw r24,r2010204 5a06 57FD sbrc r21,710205 5a08 0796 adiw r24,710206 .L828:10207 5a0a 7C01 movw r14,r2410208 5a0c 63E0 ldi r22,310209 5a0e F594 1: asr r1510210 5a10 E794 ror r1410211 5a12 6A95 dec r2210212 5a14 01F4 brne 1b10213 5a16 00C0 rjmp .L82910214 .L827:10215 5a18 8C2D mov r24,r1210216 5a1a 8695 lsr r2410217 5a1c 9927 clr r2510218 5a1e 829F mul r24,r1810219 5a20 B001 movw r22,r010220 5a22 839F mul r24,r1910221 5a24 700D add r23,r010222 5a26 929F mul r25,r1810223 5a28 700D add r23,r010224 5a2a 1124 clr r110225 5a2c CB01 movw r24,r2210226 5a2e 77FD sbrc r23,710227 5a30 0396 adiw r24,310228 .L830:10229 5a32 7C01 movw r14,r2410230 5a34 F594 asr r1510231 5a36 E794 ror r1410232 5a38 F594 asr r1510233 5a3a E794 ror r1410234 .L829:10235 5a3c A090 0000 lds r10,Ki10236 5a40 B090 0000 lds r11,(Ki)+110237 5a44 9501 movw r18,r1010238 5a46 4427 clr r2010239 5a48 37FD sbrc r19,710240 5a4a 4095 com r2010241 5a4c 542F mov r21,r2010242 5a4e 8091 0000 lds r24,SummeNick10243 5a52 9091 0000 lds r25,(SummeNick)+110244 5a56 A091 0000 lds r26,(SummeNick)+210245 5a5a B091 0000 lds r27,(SummeNick)+310246 5a5e BC01 movw r22,r2410247 5a60 CD01 movw r24,r2610248 5a62 0E94 0000 call __divmodsi410249 5a66 E20E add r14,r1810250 5a68 F31E adc r15,r1910251 5a6a 9090 0000 lds r9,Parameter_DynamicStability10252 5a6e 692D mov r22,r910253 5a70 7727 clr r2310254 5a72 8827 clr r2410255 5a74 9927 clr r2510256 5a76 9801 movw r18,r1610257 5a78 17FF sbrs r17,710258 5a7a 00C0 rjmp .L83110259 5a7c 2227 clr r1810260 5a7e 3327 clr r1910261 5a80 201B sub r18,r1610262 5a82 310B sbc r19,r1710263 .L831:10264 5a84 37FF sbrs r19,710265 5a86 00C0 rjmp .L83210266 5a88 2F5F subi r18,lo8(-(1))10267 5a8a 3F4F sbci r19,hi8(-(1))10268 .L832:10269 5a8c 3595 asr r1910270 5a8e 2795 ror r1810271 5a90 A981 ldd r26,Y+110272 5a92 BA81 ldd r27,Y+210273 5a94 2A0F add r18,r2610274 5a96 3B1F adc r19,r2710275 5a98 4427 clr r2010276 5a9a 37FD sbrc r19,710277 5a9c 4095 com r2010278 5a9e 542F mov r21,r2010279 5aa0 0E94 0000 call __mulsi310280 5aa4 97FF sbrs r25,710281 5aa6 00C0 rjmp .L83310282 5aa8 615C subi r22,lo8(-(63))10283 5aaa 7F4F sbci r23,hi8(-(63))10284 5aac 8F4F sbci r24,hlo8(-(63))10285 5aae 9F4F sbci r25,hhi8(-(63))10286 .L833:10287 5ab0 26E0 ldi r18,610288 5ab2 9595 1: asr r2510289 5ab4 8795 ror r2410290 5ab6 7795 ror r2310291 5ab8 6795 ror r2210292 5aba 2A95 dec r1810293 5abc 01F4 brne 1b10294 5abe 9B01 movw r18,r2210295 5ac0 6E15 cp r22,r1410296 5ac2 7F05 cpc r23,r1510297 5ac4 04F4 brge .L83410298 5ac6 7B01 movw r14,r2210299 .L834:10300 5ac8 3095 com r1910301 5aca 2195 neg r1810302 5acc 3F4F sbci r19,lo8(-1)10303 5ace E216 cp r14,r1810304 5ad0 F306 cpc r15,r1910305 5ad2 04F4 brge .L83510306 5ad4 7901 movw r14,r1810307 .L835:10308 5ad6 8091 0000 lds r24,MesswertRoll10309 5ada 9091 0000 lds r25,(MesswertRoll)+110310 5ade 6091 0000 lds r22,StickRoll10311 5ae2 7091 0000 lds r23,(StickRoll)+110312 5ae6 861B sub r24,r2210313 5ae8 970B sbc r25,r2310314 5aea 9093 0000 sts (DiffRoll)+1,r2510315 5aee 8093 0000 sts DiffRoll,r2410316 5af2 2091 0000 lds r18,SummeRoll10317 5af6 3091 0000 lds r19,(SummeRoll)+110318 5afa 4091 0000 lds r20,(SummeRoll)+210319 5afe 5091 0000 lds r21,(SummeRoll)+310320 5b02 DD20 tst r1310321 5b04 01F0 breq .L83610322 5b06 461A sub r4,r2210323 5b08 570A sbc r5,r2310324 5b0a C201 movw r24,r410325 5b0c AA27 clr r2610326 5b0e 97FD sbrc r25,710327 5b10 A095 com r2610328 5b12 BA2F mov r27,r2610329 5b14 00C0 rjmp .L91510330 .L836:10331 5b16 AA27 clr r2610332 5b18 97FD sbrc r25,710333 5b1a A095 com r2610334 5b1c BA2F mov r27,r2610335 .L915:10336 5b1e 280F add r18,r2410337 5b20 391F adc r19,r2510338 5b22 4A1F adc r20,r2610339 5b24 5B1F adc r21,r2710340 5b26 2093 0000 sts SummeRoll,r1810341 5b2a 3093 0000 sts (SummeRoll)+1,r1910342 5b2e 4093 0000 sts (SummeRoll)+2,r2010343 5b32 5093 0000 sts (SummeRoll)+3,r2110344 5b36 8091 0000 lds r24,SummeRoll10345 5b3a 9091 0000 lds r25,(SummeRoll)+110346 5b3e A091 0000 lds r26,(SummeRoll)+210347 5b42 B091 0000 lds r27,(SummeRoll)+310348 5b46 8150 subi r24,lo8(64001)10349 5b48 9A4F sbci r25,hi8(64001)10350 5b4a A040 sbci r26,hlo8(64001)10351 5b4c B040 sbci r27,hhi8(64001)10352 5b4e 04F0 brlt .L83810353 5b50 80E0 ldi r24,lo8(64000)10354 5b52 9AEF ldi r25,hi8(64000)10355 5b54 A0E0 ldi r26,hlo8(64000)10356 5b56 B0E0 ldi r27,hhi8(64000)10357 5b58 8093 0000 sts SummeRoll,r2410358 5b5c 9093 0000 sts (SummeRoll)+1,r2510359 5b60 A093 0000 sts (SummeRoll)+2,r2610360 5b64 B093 0000 sts (SummeRoll)+3,r2710361 .L838:10362 5b68 8091 0000 lds r24,SummeRoll10363 5b6c 9091 0000 lds r25,(SummeRoll)+110364 5b70 A091 0000 lds r26,(SummeRoll)+210365 5b74 B091 0000 lds r27,(SummeRoll)+310366 5b78 8050 subi r24,lo8(-64000)10367 5b7a 9640 sbci r25,hi8(-64000)10368 5b7c AF4F sbci r26,hlo8(-64000)10369 5b7e BF4F sbci r27,hhi8(-64000)10370 5b80 04F4 brge .L83910371 5b82 80E0 ldi r24,lo8(-64000)10372 5b84 96E0 ldi r25,hi8(-64000)10373 5b86 AFEF ldi r26,hlo8(-64000)10374 5b88 BFEF ldi r27,hhi8(-64000)10375 5b8a 8093 0000 sts SummeRoll,r2410376 5b8e 9093 0000 sts (SummeRoll)+1,r2510377 5b92 A093 0000 sts (SummeRoll)+2,r2610378 5b96 B093 0000 sts (SummeRoll)+3,r2710379 .L839:10380 5b9a 2091 0000 lds r18,DiffRoll10381 5b9e 3091 0000 lds r19,(DiffRoll)+110382 5ba2 48E0 ldi r20,lo8(8)10383 5ba4 4C15 cp r20,r1210384 5ba6 00F0 brlo .L84010385 5ba8 8C2D mov r24,r1210386 5baa 9927 clr r2510387 5bac 829F mul r24,r1810388 5bae B001 movw r22,r010389 5bb0 839F mul r24,r1910390 5bb2 700D add r23,r010391 5bb4 929F mul r25,r1810392 5bb6 700D add r23,r010393 5bb8 1124 clr r110394 5bba CB01 movw r24,r2210395 5bbc 77FD sbrc r23,710396 5bbe 0796 adiw r24,710397 .L841:10398 5bc0 6C01 movw r12,r2410399 5bc2 B3E0 ldi r27,310400 5bc4 D594 1: asr r1310401 5bc6 C794 ror r1210402 5bc8 BA95 dec r2710403 5bca 01F4 brne 1b10404 5bcc 00C0 rjmp .L84210405 .L840:10406 5bce C694 lsr r1210407 5bd0 8C2D mov r24,r1210408 5bd2 9927 clr r2510409 5bd4 829F mul r24,r1810410 5bd6 D001 movw r26,r010411 5bd8 839F mul r24,r1910412 5bda B00D add r27,r010413 5bdc 929F mul r25,r1810414 5bde B00D add r27,r010415 5be0 1124 clr r110416 5be2 CD01 movw r24,r2610417 5be4 B7FD sbrc r27,710418 5be6 0396 adiw r24,310419 .L843:10420 5be8 6C01 movw r12,r2410421 5bea D594 asr r1310422 5bec C794 ror r1210423 5bee D594 asr r1310424 5bf0 C794 ror r1210425 .L842:10426 5bf2 9501 movw r18,r1010427 5bf4 4427 clr r2010428 5bf6 37FD sbrc r19,710429 5bf8 4095 com r2010430 5bfa 542F mov r21,r2010431 5bfc 8091 0000 lds r24,SummeRoll10432 5c00 9091 0000 lds r25,(SummeRoll)+110433 5c04 A091 0000 lds r26,(SummeRoll)+210434 5c08 B091 0000 lds r27,(SummeRoll)+310435 5c0c BC01 movw r22,r2410436 5c0e CD01 movw r24,r2610437 5c10 0E94 0000 call __divmodsi410438 5c14 C20E add r12,r1810439 5c16 D31E adc r13,r1910440 5c18 692D mov r22,r910441 5c1a 7727 clr r2310442 5c1c 8827 clr r2410443 5c1e 9927 clr r2510444 5c20 9801 movw r18,r1610445 5c22 17FF sbrs r17,710446 5c24 00C0 rjmp .L84410447 5c26 2227 clr r1810448 5c28 3327 clr r1910449 5c2a 201B sub r18,r1610450 5c2c 310B sbc r19,r1710451 .L844:10452 5c2e 37FF sbrs r19,710453 5c30 00C0 rjmp .L84510454 5c32 2F5F subi r18,lo8(-(1))10455 5c34 3F4F sbci r19,hi8(-(1))10456 .L845:10457 5c36 3595 asr r1910458 5c38 2795 ror r1810459 5c3a E981 ldd r30,Y+110460 5c3c FA81 ldd r31,Y+210461 5c3e 2E0F add r18,r3010462 5c40 3F1F adc r19,r3110463 5c42 4427 clr r2010464 5c44 37FD sbrc r19,710465 5c46 4095 com r2010466 5c48 542F mov r21,r2010467 5c4a 0E94 0000 call __mulsi310468 5c4e 97FF sbrs r25,710469 5c50 00C0 rjmp .L84610470 5c52 615C subi r22,lo8(-(63))10471 5c54 7F4F sbci r23,hi8(-(63))10472 5c56 8F4F sbci r24,hlo8(-(63))10473 5c58 9F4F sbci r25,hhi8(-(63))10474 .L846:10475 5c5a E6E0 ldi r30,610476 5c5c 9595 1: asr r2510477 5c5e 8795 ror r2410478 5c60 7795 ror r2310479 5c62 6795 ror r2210480 5c64 EA95 dec r3010481 5c66 01F4 brne 1b10482 5c68 9B01 movw r18,r2210483 5c6a 6C15 cp r22,r1210484 5c6c 7D05 cpc r23,r1310485 5c6e 04F4 brge .L84710486 5c70 6B01 movw r12,r2210487 .L847:10488 5c72 3095 com r1910489 5c74 2195 neg r1810490 5c76 3F4F sbci r19,lo8(-1)10491 5c78 C216 cp r12,r1810492 5c7a D306 cpc r13,r1910493 5c7c 04F4 brge .L84810494 5c7e 6901 movw r12,r1810495 .L848:10496 5c80 8091 0000 lds r24,MIN_GAS10497 5c84 282E mov r2,r2410498 5c86 3324 clr r310499 5c88 5090 0000 lds r5,EE_Parameter+10110500 5c8c 60E0 ldi r22,lo8(Motor)10501 5c8e 862E mov r8,r2210502 5c90 60E0 ldi r22,hi8(Motor)10503 5c92 962E mov r9,r2210504 5c94 50E0 ldi r21,lo8(Mixer+13)10505 5c96 A52E mov r10,r2110506 5c98 50E0 ldi r21,hi8(Mixer+13)10507 5c9a B52E mov r11,r2110508 5c9c 4BE0 ldi r20,lo8(11)10509 5c9e 442E mov r4,r2010510 5ca0 30E0 ldi r19,lo8(tmp_motorwert)10511 5ca2 632E mov r6,r1910512 5ca4 30E0 ldi r19,hi8(tmp_motorwert)10513 5ca6 732E mov r7,r1910514 .L883:10515 5ca8 D501 movw r26,r1010516 5caa 2C91 ld r18,X10517 5cac 1216 cp __zero_reg__,r1810518 5cae 04F0 brlt .+210519 5cb0 00C0 rjmp .L85210520 5cb2 2034 cpi r18,lo8(64)10521 5cb4 01F4 brne .L85310522 5cb6 E981 ldd r30,Y+110523 5cb8 FA81 ldd r31,Y+210524 5cba FF8B std Y+23,r3110525 5cbc EE8B std Y+22,r3010526 5cbe 00C0 rjmp .L85410527 .L853:10528 5cc0 4981 ldd r20,Y+110529 5cc2 5A81 ldd r21,Y+210530 5cc4 CA01 movw r24,r2010531 5cc6 AA27 clr r2610532 5cc8 97FD sbrc r25,710533 5cca A095 com r2610534 5ccc BA2F mov r27,r2610535 5cce 3327 clr r1910536 5cd0 27FD sbrc r18,710537 5cd2 3095 com r1910538 5cd4 432F mov r20,r1910539 5cd6 532F mov r21,r1910540 5cd8 BC01 movw r22,r2410541 5cda CD01 movw r24,r2610542 5cdc 0E94 0000 call __mulsi310543 5ce0 97FF sbrs r25,710544 5ce2 00C0 rjmp .L85510545 5ce4 615C subi r22,lo8(-(63))10546 5ce6 7F4F sbci r23,hi8(-(63))10547 5ce8 8F4F sbci r24,hlo8(-(63))10548 5cea 9F4F sbci r25,hhi8(-(63))10549 .L855:10550 5cec 26E0 ldi r18,610551 5cee 9595 1: asr r2510552 5cf0 8795 ror r2410553 5cf2 7795 ror r2310554 5cf4 6795 ror r2210555 5cf6 2A95 dec r1810556 5cf8 01F4 brne 1b10557 5cfa 7F8B std Y+23,r2310558 5cfc 6E8B std Y+22,r2210559 .L854:10560 5cfe F501 movw r30,r1010561 5d00 2181 ldd r18,Z+110562 5d02 2034 cpi r18,lo8(64)10563 5d04 01F4 brne .L85610564 5d06 2E89 ldd r18,Y+2210565 5d08 3F89 ldd r19,Y+2310566 5d0a 2E0D add r18,r1410567 5d0c 3F1D adc r19,r1510568 5d0e 3F8B std Y+23,r1910569 5d10 2E8B std Y+22,r1810570 5d12 00C0 rjmp .L85710571 .L856:10572 5d14 203C cpi r18,lo8(-64)10573 5d16 01F4 brne .L85810574 5d18 4E89 ldd r20,Y+2210575 5d1a 5F89 ldd r21,Y+2310576 5d1c 4E19 sub r20,r1410577 5d1e 5F09 sbc r21,r1510578 5d20 5F8B std Y+23,r2110579 5d22 4E8B std Y+22,r2010580 5d24 00C0 rjmp .L85710581 .L858:10582 5d26 C701 movw r24,r1410583 5d28 AA27 clr r2610584 5d2a 97FD sbrc r25,710585 5d2c A095 com r2610586 5d2e BA2F mov r27,r2610587 5d30 3327 clr r1910588 5d32 27FD sbrc r18,710589 5d34 3095 com r1910590 5d36 432F mov r20,r1910591 5d38 532F mov r21,r1910592 5d3a BC01 movw r22,r2410593 5d3c CD01 movw r24,r2610594 5d3e 0E94 0000 call __mulsi310595 5d42 97FF sbrs r25,710596 5d44 00C0 rjmp .L86010597 5d46 615C subi r22,lo8(-(63))10598 5d48 7F4F sbci r23,hi8(-(63))10599 5d4a 8F4F sbci r24,hlo8(-(63))10600 5d4c 9F4F sbci r25,hhi8(-(63))10601 .L860:10602 5d4e B6E0 ldi r27,610603 5d50 9595 1: asr r2510604 5d52 8795 ror r2410605 5d54 7795 ror r2310606 5d56 6795 ror r2210607 5d58 BA95 dec r2710608 5d5a 01F4 brne 1b10609 5d5c AE89 ldd r26,Y+2210610 5d5e BF89 ldd r27,Y+2310611 5d60 A60F add r26,r2210612 5d62 B71F adc r27,r2310613 5d64 BF8B std Y+23,r2710614 5d66 AE8B std Y+22,r2610615 .L857:10616 5d68 F501 movw r30,r1010617 5d6a 2281 ldd r18,Z+210618 5d6c 2034 cpi r18,lo8(64)10619 5d6e 01F4 brne .L86110620 5d70 2E89 ldd r18,Y+2210621 5d72 3F89 ldd r19,Y+2310622 5d74 2C0D add r18,r1210623 5d76 3D1D adc r19,r1310624 5d78 3F8B std Y+23,r1910625 5d7a 2E8B std Y+22,r1810626 5d7c 00C0 rjmp .L86210627 .L861:10628 5d7e 203C cpi r18,lo8(-64)10629 5d80 01F4 brne .L86310630 5d82 4E89 ldd r20,Y+2210631 5d84 5F89 ldd r21,Y+2310632 5d86 4C19 sub r20,r1210633 5d88 5D09 sbc r21,r1310634 5d8a 5F8B std Y+23,r2110635 5d8c 4E8B std Y+22,r2010636 5d8e 00C0 rjmp .L86210637 .L863:10638 5d90 C601 movw r24,r1210639 5d92 AA27 clr r2610640 5d94 97FD sbrc r25,710641 5d96 A095 com r2610642 5d98 BA2F mov r27,r2610643 5d9a 3327 clr r1910644 5d9c 27FD sbrc r18,710645 5d9e 3095 com r1910646 5da0 432F mov r20,r1910647 5da2 532F mov r21,r1910648 5da4 BC01 movw r22,r2410649 5da6 CD01 movw r24,r2610650 5da8 0E94 0000 call __mulsi310651 5dac 97FF sbrs r25,710652 5dae 00C0 rjmp .L86510653 5db0 615C subi r22,lo8(-(63))10654 5db2 7F4F sbci r23,hi8(-(63))10655 5db4 8F4F sbci r24,hlo8(-(63))10656 5db6 9F4F sbci r25,hhi8(-(63))10657 .L865:10658 5db8 A6E0 ldi r26,610659 5dba 9595 1: asr r2510660 5dbc 8795 ror r2410661 5dbe 7795 ror r2310662 5dc0 6795 ror r2210663 5dc2 AA95 dec r2610664 5dc4 01F4 brne 1b10665 5dc6 AE89 ldd r26,Y+2210666 5dc8 BF89 ldd r27,Y+2310667 5dca A60F add r26,r2210668 5dcc B71F adc r27,r2310669 5dce BF8B std Y+23,r2710670 5dd0 AE8B std Y+22,r2610671 .L862:10672 5dd2 F501 movw r30,r1010673 5dd4 2381 ldd r18,Z+310674 5dd6 2034 cpi r18,lo8(64)10675 5dd8 01F4 brne .L86610676 5dda 2E89 ldd r18,Y+2210677 5ddc 3F89 ldd r19,Y+2310678 5dde 200F add r18,r1610679 5de0 311F adc r19,r1710680 5de2 3F8B std Y+23,r1910681 5de4 2E8B std Y+22,r1810682 5de6 00C0 rjmp .L86710683 .L866:10684 5de8 203C cpi r18,lo8(-64)10685 5dea 01F4 brne .L86810686 5dec 4E89 ldd r20,Y+2210687 5dee 5F89 ldd r21,Y+2310688 5df0 401B sub r20,r1610689 5df2 510B sbc r21,r1710690 5df4 5F8B std Y+23,r2110691 5df6 4E8B std Y+22,r2010692 5df8 00C0 rjmp .L86710693 .L868:10694 5dfa C801 movw r24,r1610695 5dfc AA27 clr r2610696 5dfe 97FD sbrc r25,710697 5e00 A095 com r2610698 5e02 BA2F mov r27,r2610699 5e04 3327 clr r1910700 5e06 27FD sbrc r18,710701 5e08 3095 com r1910702 5e0a 432F mov r20,r1910703 5e0c 532F mov r21,r1910704 5e0e BC01 movw r22,r2410705 5e10 CD01 movw r24,r2610706 5e12 0E94 0000 call __mulsi310707 5e16 97FF sbrs r25,710708 5e18 00C0 rjmp .L87010709 5e1a 615C subi r22,lo8(-(63))10710 5e1c 7F4F sbci r23,hi8(-(63))10711 5e1e 8F4F sbci r24,hlo8(-(63))10712 5e20 9F4F sbci r25,hhi8(-(63))10713 .L870:10714 5e22 F6E0 ldi r31,610715 5e24 9595 1: asr r2510716 5e26 8795 ror r2410717 5e28 7795 ror r2310718 5e2a 6795 ror r2210719 5e2c FA95 dec r3110720 5e2e 01F4 brne 1b10721 5e30 AE89 ldd r26,Y+2210722 5e32 BF89 ldd r27,Y+2310723 5e34 A60F add r26,r2210724 5e36 B71F adc r27,r2310725 5e38 BF8B std Y+23,r2710726 5e3a AE8B std Y+22,r2610727 .L867:10728 5e3c F301 movw r30,r610729 5e3e 8081 ld r24,Z10730 5e40 9181 ldd r25,Z+110731 5e42 2E89 ldd r18,Y+2210732 5e44 3F89 ldd r19,Y+2310733 5e46 8217 cp r24,r1810734 5e48 9307 cpc r25,r1910735 5e4a 04F4 brge .L87110736 5e4c B901 movw r22,r1810737 5e4e 680F add r22,r2410738 5e50 791F adc r23,r2510739 5e52 77FF sbrs r23,710740 5e54 00C0 rjmp .L87210741 5e56 6F5F subi r22,lo8(-(1))10742 5e58 7F4F sbci r23,hi8(-(1))10743 .L872:10744 5e5a 7595 asr r2310745 5e5c 6795 ror r2210746 5e5e 7F8B std Y+23,r2310747 5e60 6E8B std Y+22,r2210748 5e62 00C0 rjmp .L87310749 .L871:10750 5e64 5520 tst r510751 5e66 01F4 brne .L87410752 5e68 4E89 ldd r20,Y+2210753 5e6a 5F89 ldd r21,Y+2310754 5e6c 440F add r20,r2010755 5e6e 551F adc r21,r2110756 5e70 481B sub r20,r2410757 5e72 590B sbc r21,r2510758 5e74 5F8B std Y+23,r2110759 5e76 4E8B std Y+22,r2010760 5e78 00C0 rjmp .L87310761 .L874:10762 5e7a 51E0 ldi r21,lo8(1)10763 5e7c 5515 cp r21,r510764 5e7e 00F4 brsh .L87310765 5e80 252D mov r18,r510766 5e82 3327 clr r1910767 5e84 6E89 ldd r22,Y+2210768 5e86 7F89 ldd r23,Y+2310769 5e88 861B sub r24,r2210770 5e8a 970B sbc r25,r2310771 5e8c B901 movw r22,r1810772 5e8e 0E94 0000 call __divmodhi410773 5e92 AE89 ldd r26,Y+2210774 5e94 BF89 ldd r27,Y+2310775 5e96 A60F add r26,r2210776 5e98 B71F adc r27,r2310777 5e9a BF8B std Y+23,r2710778 5e9c AE8B std Y+22,r2610779 .L873:10780 5e9e C101 movw r24,r210781 5ea0 880F lsl r2410782 5ea2 991F rol r2510783 5ea4 880F lsl r2410784 5ea6 991F rol r2510785 5ea8 EE89 ldd r30,Y+2210786 5eaa FF89 ldd r31,Y+2310787 5eac 8E17 cp r24,r3010788 5eae 9F07 cpc r25,r3110789 5eb0 04F4 brge .L91610790 5eb2 FD89 ldd r31,Y+2110791 5eb4 8F2F mov r24,r3110792 5eb6 9927 clr r2510793 5eb8 880F lsl r2410794 5eba 991F rol r2510795 5ebc 880F lsl r2410796 5ebe 991F rol r2510797 5ec0 2E89 ldd r18,Y+2210798 5ec2 3F89 ldd r19,Y+2310799 5ec4 2817 cp r18,r2410800 5ec6 3907 cpc r19,r2510801 5ec8 04F0 brlt .L87810802 .L916:10803 5eca 9F8B std Y+23,r2510804 5ecc 8E8B std Y+22,r2410805 .L878:10806 5ece 8E89 ldd r24,Y+2210807 5ed0 9F89 ldd r25,Y+2310808 5ed2 97FD sbrc r25,710809 5ed4 0396 adiw r24,310810 .L880:10811 5ed6 9595 asr r2510812 5ed8 8795 ror r2410813 5eda 9595 asr r2510814 5edc 8795 ror r2410815 5ede F401 movw r30,r810816 5ee0 8183 std Z+1,r2410817 5ee2 880F lsl r2410818 5ee4 991F rol r2510819 5ee6 880F lsl r2410820 5ee8 991F rol r2510821 5eea 2E89 ldd r18,Y+2210822 5eec 3F89 ldd r19,Y+2310823 5eee 281B sub r18,r2410824 5ef0 390B sbc r19,r2510825 5ef2 C901 movw r24,r1810826 5ef4 880F lsl r2410827 5ef6 8283 std Z+2,r2410828 5ef8 EE89 ldd r30,Y+2210829 5efa FF89 ldd r31,Y+2310830 5efc D301 movw r26,r610831 5efe ED93 st X+,r3010832 5f00 FC93 st X,r3110833 5f02 00C0 rjmp .L85110834 .L852:10835 5f04 F401 movw r30,r810836 5f06 1182 std Z+1,__zero_reg__10837 5f08 1282 std Z+2,__zero_reg__10838 .L851:10839 5f0a 4A94 dec r410840 5f0c 22E0 ldi r18,lo8(2)10841 5f0e 30E0 ldi r19,hi8(2)10842 5f10 620E add r6,r1810843 5f12 731E adc r7,r1910844 5f14 44E0 ldi r20,lo8(4)10845 5f16 50E0 ldi r21,hi8(4)10846 5f18 A40E add r10,r2010847 5f1a B51E adc r11,r2110848 5f1c 68E0 ldi r22,lo8(8)10849 5f1e 70E0 ldi r23,hi8(8)10850 5f20 860E add r8,r2210851 5f22 971E adc r9,r2310852 5f24 47FE sbrs r4,710853 5f26 00C0 rjmp .L88310854 /* epilogue: frame size=23 */10855 5f28 E2E1 ldi r30,1810856 5f2a C95E subi r28,-2310857 5f2c 0C94 0000 jmp __epilogue_restores__+010858 /* epilogue end (size=4) */10859 /* function MotorRegler size 8305 (8295) */10861 .comm TrimNick,2,110862 .comm TrimRoll,2,110863 .comm ErsatzKompass,4,110864 .comm ErsatzKompassInGrad,2,110865 .comm MesswertNick,2,110866 .comm MesswertRoll,2,110867 .comm MesswertGier,2,110868 .comm Mittelwert_AccNick,2,110869 .comm Mittelwert_AccRoll,2,110870 .comm NaviAccNick,2,110871 .comm NaviAccRoll,2,110872 .comm h,1,110873 .comm m,1,110874 .comm s,1,110875 .comm DiffNick,2,110876 .comm DiffRoll,2,110877 .comm Parameter_Servo3,1,110878 .comm Parameter_Servo4,1,110879 .comm Parameter_Servo5,1,110880 .comm Parameter_J16Bitmask,1,110881 .comm Parameter_J16Timing,1,110882 .comm Parameter_J17Bitmask,1,110883 .comm Parameter_J17Timing,1,110884 .comm Parameter_GlobalConfig,1,110885 .comm Parameter_ExtraConfig,1,110886 .comm MesswertGierBias,2,110887 .comm RohMesswertNick,2,110888 .comm RohMesswertRoll,2,110889 .comm MittelIntegralNick,4,110890 .comm MittelIntegralRoll,4,110891 .comm MittelIntegralNick2,4,110892 .comm MittelIntegralRoll2,4,110893 .comm MAX_GAS,1,110894 .comm MIN_GAS,1,110895 .comm GyroFaktor,1,110896 .comm GyroFaktorGier,1,110897 .comm IntegralFaktor,1,110898 .comm IntegralFaktorGier,1,110899 .comm Parameter_NaviGpsModeControl,1,110900 .comm Parameter_NaviGpsGain,1,110901 .comm Parameter_NaviGpsP,1,110902 .comm Parameter_NaviGpsI,1,110903 .comm Parameter_NaviGpsD,1,110904 .comm Parameter_NaviGpsACC,1,110905 .comm Parameter_NaviOperatingRadius,1,110906 .comm Parameter_NaviWindCorrection,1,110907 .comm Parameter_NaviSpeedCompensation,1,110908 .comm Parameter_ExternalControl,1,110909 .comm Parameter_MaximumAltitude,1,110910 .comm KopplungsteilNickRoll,2,110911 .comm KopplungsteilRollNick,2,110912 .comm tmp_motorwert,24,110913 /* File "fc.c": code 12351 = 0x303f (12290), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/ccqfRHGa.s:3 *ABS*:0000003f __SREG__C:\Temp/ccqfRHGa.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccqfRHGa.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccqfRHGa.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccqfRHGa.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccqfRHGa.s:15 .bss:00000000 GasIsZeroCntC:\Temp/ccqfRHGa.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/ccqfRHGa.s:27 .data:00000000 VarioCharacterC:\Temp/ccqfRHGa.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/ccqfRHGa.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/ccqfRHGa.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/ccqfRHGa.s:51 .bss:00000006 modell_fliegtC:\Temp/ccqfRHGa.s:57 .bss:00000008 MaxStickRollC:\Temp/ccqfRHGa.s:63 .bss:0000000a MaxStickNickC:\Temp/ccqfRHGa.s:69 .data:00000005 ExternHoehenValueC:\Temp/ccqfRHGa.s:76 .bss:0000000c ExternStickGierC:\Temp/ccqfRHGa.s:82 .bss:0000000e ExternStickRollC:\Temp/ccqfRHGa.s:88 .bss:00000010 ExternStickNickC:\Temp/ccqfRHGa.s:94 .data:00000007 sintabC:\Temp/ccqfRHGa.s:131 .bss:00000012 CareFreeC:\Temp/ccqfRHGa.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/ccqfRHGa.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/ccqfRHGa.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/ccqfRHGa.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/ccqfRHGa.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/ccqfRHGa.s:162 .data:0000002b Parameter_ServoRollControlC:\Temp/ccqfRHGa.s:167 .data:0000002c Parameter_ServoNickControlC:\Temp/ccqfRHGa.s:174 .bss:00000013 Parameter_UserParam8C:\Temp/ccqfRHGa.s:180 .bss:00000014 Parameter_UserParam7C:\Temp/ccqfRHGa.s:186 .bss:00000015 Parameter_UserParam6C:\Temp/ccqfRHGa.s:192 .bss:00000016 Parameter_UserParam5C:\Temp/ccqfRHGa.s:198 .bss:00000017 Parameter_UserParam4C:\Temp/ccqfRHGa.s:204 .bss:00000018 Parameter_UserParam3C:\Temp/ccqfRHGa.s:210 .bss:00000019 Parameter_UserParam2C:\Temp/ccqfRHGa.s:216 .bss:0000001a Parameter_UserParam1C:\Temp/ccqfRHGa.s:222 .data:0000002d Parameter_I_FaktorC:\Temp/ccqfRHGa.s:227 .data:0000002e Parameter_Gier_PC:\Temp/ccqfRHGa.s:232 .data:0000002f Parameter_Gyro_Gier_IC:\Temp/ccqfRHGa.s:237 .data:00000030 Parameter_Gyro_Gier_PC:\Temp/ccqfRHGa.s:242 .data:00000031 Parameter_Gyro_IC:\Temp/ccqfRHGa.s:247 .data:00000032 Parameter_Gyro_PC:\Temp/ccqfRHGa.s:252 .data:00000033 Parameter_Gyro_DC:\Temp/ccqfRHGa.s:257 .data:00000034 Parameter_Hoehe_GPS_ZC:\Temp/ccqfRHGa.s:262 .data:00000035 Parameter_KompassWirkungC:\Temp/ccqfRHGa.s:267 .data:00000036 Parameter_Hoehe_ACC_WirkungC:\Temp/ccqfRHGa.s:272 .data:00000037 Parameter_Hoehe_PC:\Temp/ccqfRHGa.s:277 .data:00000038 Parameter_HoehenSchalterC:\Temp/ccqfRHGa.s:282 .data:00000039 Parameter_Luftdruck_DC:\Temp/ccqfRHGa.s:289 .bss:0000001b Looping_ObenC:\Temp/ccqfRHGa.s:295 .bss:0000001c Looping_UntenC:\Temp/ccqfRHGa.s:301 .bss:0000001d Looping_RechtsC:\Temp/ccqfRHGa.s:307 .bss:0000001e Looping_LinksC:\Temp/ccqfRHGa.s:313 .bss:0000001f Looping_RollC:\Temp/ccqfRHGa.s:319 .bss:00000020 Looping_NickC:\Temp/ccqfRHGa.s:325 .data:0000003a KiC:\Temp/ccqfRHGa.s:332 .bss:00000021 HoverGasC:\Temp/ccqfRHGa.s:338 .bss:00000023 LageKorrekturNickC:\Temp/ccqfRHGa.s:344 .bss:00000025 LageKorrekturRollC:\Temp/ccqfRHGa.s:350 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/ccqfRHGa.s:356 .bss:00000028 CalibrationDoneC:\Temp/ccqfRHGa.s:362 .bss:00000029 CompassGierSetpointC:\Temp/ccqfRHGa.s:368 .bss:0000002b WaypointTrimmingC:\Temp/ccqfRHGa.s:374 .data:0000003c carefree_oldC:\Temp/ccqfRHGa.s:381 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/ccqfRHGa.s:387 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/ccqfRHGa.s:393 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/ccqfRHGa.s:399 .bss:00000033 SollHoeheC:\Temp/ccqfRHGa.s:405 .bss:00000037 HoehenWertC:\Temp/ccqfRHGa.s:411 .bss:0000003b StartTriggerC:\Temp/ccqfRHGa.s:417 .bss:0000003c MotorenEinC:\Temp/ccqfRHGa.s:423 .bss:0000003d SenderOkayC:\Temp/ccqfRHGa.s:429 .bss:0000003e PotiC:\Temp/ccqfRHGa.s:435 .bss:00000047 StickGasC:\Temp/ccqfRHGa.s:441 .bss:00000049 StickGierC:\Temp/ccqfRHGa.s:447 .bss:0000004b StickRollC:\Temp/ccqfRHGa.s:453 .bss:0000004d StickNickC:\Temp/ccqfRHGa.s:459 .data:0000003d HoverGasMaxC:\Temp/ccqfRHGa.s:466 .bss:0000004f HoverGasMinC:\Temp/ccqfRHGa.s:472 .data:0000003f StickGasHoverC:\Temp/ccqfRHGa.s:479 .bss:00000051 GierGyroFehlerC:\Temp/ccqfRHGa.s:485 .data:00000041 Umschlag180RollC:\Temp/ccqfRHGa.s:490 .data:00000045 Umschlag180NickC:\Temp/ccqfRHGa.s:497 .bss:00000053 TrichterFlugC:\Temp/ccqfRHGa.s:503 .bss:00000054 HoehenReglerAktivC:\Temp/ccqfRHGa.s:509 .data:00000049 KompassSignalSchlechtC:\Temp/ccqfRHGa.s:514 .data:0000004b KompassFusionC:\Temp/ccqfRHGa.s:519 .data:0000004c CalculateCompassTimerC:\Temp/ccqfRHGa.s:526 .bss:00000055 KompassSollWertC:\Temp/ccqfRHGa.s:532 .data:0000004d KompassValueC:\Temp/ccqfRHGa.s:539 .bss:00000057 Mess_Integral_HochC:\Temp/ccqfRHGa.s:545 .bss:0000005b SummeRollC:\Temp/ccqfRHGa.s:551 .bss:0000005f SummeNickC:\Temp/ccqfRHGa.s:557 .bss:00000063 Mess_Integral_Gier2C:\Temp/ccqfRHGa.s:563 .bss:00000067 Mess_Integral_GierC:\Temp/ccqfRHGa.s:569 .bss:0000006b Mess_IntegralRoll2C:\Temp/ccqfRHGa.s:575 .bss:0000006f Mess_IntegralRollC:\Temp/ccqfRHGa.s:581 .bss:00000073 Mess_IntegralNick2C:\Temp/ccqfRHGa.s:587 .bss:00000077 Mess_IntegralNickC:\Temp/ccqfRHGa.s:593 .bss:0000007b Integral_GierC:\Temp/ccqfRHGa.s:599 .bss:0000007f IntegralAccZC:\Temp/ccqfRHGa.s:605 .bss:00000083 IntegralAccRollC:\Temp/ccqfRHGa.s:611 .bss:00000087 IntegralAccNickC:\Temp/ccqfRHGa.s:617 .bss:0000008b IntegralRoll2C:\Temp/ccqfRHGa.s:623 .bss:0000008f IntegralRollC:\Temp/ccqfRHGa.s:629 .bss:00000093 IntegralNick2C:\Temp/ccqfRHGa.s:635 .bss:00000097 IntegralNickC:\Temp/ccqfRHGa.s:641 .bss:0000009b ControlHeadingC:\Temp/ccqfRHGa.s:647 .bss:0000009c NeutralAccZC:\Temp/ccqfRHGa.s:653 .bss:0000009e NaviCntAccC:\Temp/ccqfRHGa.s:659 .bss:000000a0 NeutralAccYC:\Temp/ccqfRHGa.s:665 .bss:000000a2 NeutralAccXC:\Temp/ccqfRHGa.s:671 .bss:000000a4 StartNeutralNickC:\Temp/ccqfRHGa.s:677 .bss:000000a6 StartNeutralRollC:\Temp/ccqfRHGa.s:683 .bss:000000a8 AdNeutralGierC:\Temp/ccqfRHGa.s:689 .bss:000000aa AdNeutralRollC:\Temp/ccqfRHGa.s:695 .bss:000000ac AdNeutralNickC:\Temp/ccqfRHGa.s:701 .bss:000000ae BaroExpandActiveC:\Temp/ccqfRHGa.s:706 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000002 ErsatzKompassInGradC:\Temp/ccqfRHGa.s:892 .text:0000022c PiepC:\Temp/ccqfRHGa.s:966 .text:000002b2 CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/ccqfRHGa.s:1108 .progmem.data:00000000 __c.35C:\Temp/ccqfRHGa.s:1113 .text:000003f4 SetNeutral*COM*:00000004 ErsatzKompass.bss:000000b0 tmpl.27C:\Temp/ccqfRHGa.s:1621 .bss:000000b4 tmpl2.28C:\Temp/ccqfRHGa.s:1622 .bss:000000b8 tmpl3.29C:\Temp/ccqfRHGa.s:1623 .bss:000000bc tmpl4.30C:\Temp/ccqfRHGa.s:1624 .bss:000000c0 oldNick.31C:\Temp/ccqfRHGa.s:1625 .bss:000000c2 oldRoll.32C:\Temp/ccqfRHGa.s:1626 .bss:000000c4 d2Roll.33C:\Temp/ccqfRHGa.s:1627 .bss:000000c6 d2Nick.34C:\Temp/ccqfRHGa.s:1631 .text:00000960 Mittelwert*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRoll*COM*:00000001 Parameter_GlobalConfig*COM*:00000002 KopplungsteilNickRoll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\Temp/ccqfRHGa.s:3196 .text:000018c4 SendMotorDataC:\Temp/ccqfRHGa.s:3256 .text:0000193e ParameterZuordnung*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_Servo3*COM*:00000001 Parameter_Servo4*COM*:00000001 Parameter_Servo5*COM*:00000001 Parameter_MaximumAltitude*COM*:00000001 Parameter_ExtraConfig*COM*:00000001 Parameter_ExternalControl*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\Temp/ccqfRHGa.s:1628 .bss:000000c8 sollGier.0C:\Temp/ccqfRHGa.s:3975 .bss:000000cc tmp_long.1C:\Temp/ccqfRHGa.s:3976 .bss:000000d0 tmp_long2.2C:\Temp/ccqfRHGa.s:3977 .bss:000000d4 IntegralFehlerNick.3C:\Temp/ccqfRHGa.s:3978 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/ccqfRHGa.s:3979 .bss:000000dc RcLostTimer.5C:\Temp/ccqfRHGa.s:3980 .bss:000000de delay_neutral.6C:\Temp/ccqfRHGa.s:3981 .bss:000000df delay_einschalten.7C:\Temp/ccqfRHGa.s:3982 .bss:000000e0 delay_ausschalten.8C:\Temp/ccqfRHGa.s:3983 .bss:000000e1 move_safety_switch.9C:\Temp/ccqfRHGa.s:3984 .bss:000000e2 ausgleichNick.10C:\Temp/ccqfRHGa.s:3985 .bss:000000e6 ausgleichRoll.11C:\Temp/ccqfRHGa.s:3986 .bss:000000ea stick_nick.12C:\Temp/ccqfRHGa.s:3987 .bss:000000ec stick_roll.13C:\Temp/ccqfRHGa.s:3988 .bss:000000ee cnt.14C:\Temp/ccqfRHGa.s:3989 .bss:000000f0 last_n_p.15C:\Temp/ccqfRHGa.s:3990 .bss:000000f1 last_n_n.16C:\Temp/ccqfRHGa.s:3991 .bss:000000f2 last_r_p.17C:\Temp/ccqfRHGa.s:3992 .bss:000000f3 last_r_n.18C:\Temp/ccqfRHGa.s:3993 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/ccqfRHGa.s:3994 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/ccqfRHGa.s:3995 .bss:000000fc HeightTrimming.21C:\Temp/ccqfRHGa.s:3996 .bss:000000fe FilterHCGas.22C:\Temp/ccqfRHGa.s:3997 .bss:00000100 HoverGasFilter.23C:\Temp/ccqfRHGa.s:4002 .data:0000004f delay.24C:\Temp/ccqfRHGa.s:3998 .bss:00000104 BaroAtUpperLimit.25C:\Temp/ccqfRHGa.s:4004 .bss:00000105 BaroAtLowerLimit.26C:\Temp/ccqfRHGa.s:4009 .text:00001f42 MotorRegler*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 IntegralFaktorGier*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000018 tmp_motorwert*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsModeControl*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_bssEE_Parameter__divmodsi4DebugOutAdWertGierAdWertAccHochUBatMotorServoNickValueCapacityGPS_NickGPS_RollVersionInfoPlatinenVersionbeeptimeUpdateMotorLIBFC_PollingSucheGyroOffsetAdWertNickAdWertRollAdWertAccNickAdWertAccRollPPM_in__mulsi3__prologue_saves__ExpandBaroDelay_ms_MessMessLuftdruckSucheLuftruckOffset__divmodhi4Aktuell_azSetParamWordGetParamWorduart_putchar_printf_PLuftdruckStartLuftdruckVarioMeterLED_InitFromNaviCtrl_ValueServoActiveNickServoValueLIBFC_HoTT_Clear__epilogue_restores__AdWertNickFilterAdWertRollFilterAdReadyHiResNickHiResRollMotorTestPC_MotortestActiveI2C_TransferActivemotor_writetwi_stateBLFlagsNC_To_FC_MaxAltitudeSpeakHoTTFromNaviCtrlBeepMusterPPM_diffSetActiveParamSetWinkelOutGetActiveParamSetParamSet_ReadFromEEPromLipoDetectionLIBFC_ReceiverInitNC_ErrorCodeGPSInfoNewPpmDataFromNC_Rotate_CFromNC_Rotate_SGPS_Aid_StickMultiplikator__floatsisf__addsf3__fixunssfsiExternControlZaehlMessungenBattLowVoltageWarning__udivmodhi4DruckOffsetSettingSummenHoeheihypotc_cos_8192__udivmodqi4NC_To_FC_FlagsMissingMotorMixer