Subversion Repositories FlightCtrl

   1                            .file   "spi.c"
   2                            .arch atmega1284p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global MagVec
  11                    .global MagVec
  12                            .section .bss
  15                    MagVec:
  16 0000 0000 0000             .skip 6,0
  16      0000 
  17                    .global POI_KameraNick
  18                    .global POI_KameraNick
  21                    POI_KameraNick:
  22 0006 0000                  .skip 2,0
  23                    .global NC_To_FC_MaxAltitude
  24                    .global NC_To_FC_MaxAltitude
  27                    NC_To_FC_MaxAltitude:
  28 0008 00                    .skip 1,0
  29                    .global NC_To_FC_Flags
  30                    .global NC_To_FC_Flags
  33                    NC_To_FC_Flags:
  34 0009 00                    .skip 1,0
  35                    .global EarthMagneticInclinationTheoretic
  36                    .global EarthMagneticInclinationTheoretic
  39                    EarthMagneticInclinationTheoretic:
  40 000a 00                    .skip 1,0
  41                    .global EarthMagneticInclination
  42                    .global EarthMagneticInclination
  45                    EarthMagneticInclination:
  46 000b 00                    .skip 1,0
  47                    .global EarthMagneticField
  48                    .global EarthMagneticField
  51                    EarthMagneticField:
  52 000c 00                    .skip 1,0
  53                    .global NC_GPS_ModeCharacter
  54                            .data
  57                    NC_GPS_ModeCharacter:
  58 0000 20                    .byte   32
  59                    .global NC_ErrorCode
  60                    .global NC_ErrorCode
  61                            .section .bss
  64                    NC_ErrorCode:
  65 000d 00                    .skip 1,0
  66                    .global SPI_CommandCounter
  67                    .global SPI_CommandCounter
  70                    SPI_CommandCounter:
  71 000e 00                    .skip 1,0
  72                    .global SPI_CommandSequence
  73                            .data
  76                    SPI_CommandSequence:
  77 0001 0B                    .byte   11
  78 0002 0A                    .byte   10
  79 0003 0D                    .byte   13
  80 0004 0B                    .byte   11
  81 0005 0C                    .byte   12
  82 0006 0E                    .byte   14
  83 0007 0B                    .byte   11
  84 0008 0F                    .byte   15
  85 0009 10                    .byte   16
  86 000a 0B                    .byte   11
  87 000b 11                    .byte   17
  88                    .global NaviDataOkay
  91                    NaviDataOkay:
  92 000c FA                    .byte   -6
  93                    .global FromNC_Rotate_S
  94                    .global FromNC_Rotate_S
  95                            .section .bss
  98                    FromNC_Rotate_S:
  99 000f 00                    .skip 1,0
 100                    .global FromNC_Rotate_C
 101                            .data
 104                    FromNC_Rotate_C:
 105 000d 20                    .byte   32
 106                            .text
 107                    .global SPI_MasterInit
 109                    SPI_MasterInit:
 110                    /* prologue: frame size=0 */
 111                    /* prologue end (size=0) */
 112 0000 84B1                  in r24,36-0x20
 113 0002 806A                  ori r24,lo8(-96)
 114 0004 84B9                  out 36-0x20,r24
 115 0006 3D9A                  sbi 39-0x20,5
 116 0008 82E5                  ldi r24,lo8(82)
 117 000a 8CBD                  out 76-0x20,r24
 118 000c 1DBC                  out 77-0x20,__zero_reg__
 119 000e 459A                  sbi 40-0x20,5
 120 0010 81E0                  ldi r24,lo8(1)
 121 0012 8093 0000             sts SPITransferCompleted,r24
 122 0016 8AEA                  ldi r24,lo8(-86)
 123 0018 8093 0000             sts ToNaviCtrl,r24
 124 001c 83E8                  ldi r24,lo8(-125)
 125 001e 8093 0000             sts ToNaviCtrl+1,r24
 126 0022 8AE0                  ldi r24,lo8(10)
 127 0024 8093 0000             sts ToNaviCtrl+2,r24
 128 0028 1092 0000             sts (ToNaviCtrl+3)+1,__zero_reg__
 129 002c 1092 0000             sts ToNaviCtrl+3,__zero_reg__
 130 0030 1092 0000             sts (ToNaviCtrl+5)+1,__zero_reg__
 131 0034 1092 0000             sts ToNaviCtrl+5,__zero_reg__
 132 0038 1092 0000             sts FromNaviCtrl_Value+3,__zero_reg__
 133 003c 1092 0000             sts SPI_RxDataValid,__zero_reg__
 134                    /* epilogue: frame size=0 */
 135 0040 0895                  ret
 136                    /* epilogue end (size=1) */
 137                    /* function SPI_MasterInit size 33 (32) */
 139                            .lcomm SPI_RXState.2,1
 140                            .lcomm rxchksum.3,1
 141                    .global SPI_TransmitByte
 143                    SPI_TransmitByte:
 144                    /* prologue: frame size=0 */
 145                    /* prologue end (size=0) */
 146 0042 3091 0000             lds r19,SPITransferCompleted
 147 0046 3323                  tst r19
 148 0048 01F0                  breq .+2
 149 004a 00C0                  rjmp .L2
 150 004c 0DB4                  in __tmp_reg__,77-0x20
 151 004e 07FE                  sbrs __tmp_reg__,7
 152 0050 00C0                  rjmp .L2
 153 0052 84E0                  ldi r24,lo8(4)
 154 0054 8093 0000             sts SendSPI,r24
 155 0058 459A                  sbi 40-0x20,5
 156 005a 2EB5                  in r18,78-0x20
 157 005c 8091 0000             lds r24,SPI_RXState.2
 158 0060 9927                  clr r25
 159 0062 8130                  cpi r24,1
 160 0064 9105                  cpc r25,__zero_reg__
 161 0066 01F0                  breq .L8
 162 0068 8230                  cpi r24,2
 163 006a 9105                  cpc r25,__zero_reg__
 164 006c 04F4                  brge .L16
 165 006e 892B                  or r24,r25
 166 0070 01F0                  breq .L6
 167 0072 00C0                  rjmp .L5
 168                    .L16:
 169 0074 0297                  sbiw r24,2
 170 0076 01F0                  breq .L11
 171 0078 00C0                  rjmp .L5
 172                    .L6:
 173 007a 3093 0000             sts SPI_RxBufferIndex,r19
 174 007e 2093 0000             sts rxchksum.3,r18
 175 0082 2138                  cpi r18,lo8(-127)
 176 0084 01F4                  brne .L5
 177 0086 81E0                  ldi r24,lo8(1)
 178 0088 00C0                  rjmp .L19
 179                    .L8:
 180 008a 2535                  cpi r18,lo8(85)
 181 008c 01F4                  brne .L9
 182 008e 8091 0000             lds r24,rxchksum.3
 183 0092 820F                  add r24,r18
 184 0094 8093 0000             sts rxchksum.3,r24
 185 0098 82E0                  ldi r24,lo8(2)
 186                    .L19:
 187 009a 8093 0000             sts SPI_RXState.2,r24
 188 009e 00C0                  rjmp .L5
 189                    .L9:
 190 00a0 3093 0000             sts SPI_RXState.2,r19
 191 00a4 00C0                  rjmp .L5
 192                    .L11:
 193 00a6 8091 0000             lds r24,SPI_RxBufferIndex
 194 00aa E82F                  mov r30,r24
 195 00ac FF27                  clr r31
 196 00ae E050                  subi r30,lo8(-(SPI_Buffer))
 197 00b0 F040                  sbci r31,hi8(-(SPI_Buffer))
 198 00b2 2083                  st Z,r18
 199 00b4 8F5F                  subi r24,lo8(-(1))
 200 00b6 8093 0000             sts SPI_RxBufferIndex,r24
 201 00ba 9091 0000             lds r25,rxchksum.3
 202 00be 8032                  cpi r24,lo8(32)
 203 00c0 00F0                  brlo .L12
 204 00c2 2917                  cp r18,r25
 205 00c4 01F4                  brne .L13
 206 00c6 80E2                  ldi r24,lo8(32)
 207 00c8 A0E0                  ldi r26,lo8(SPI_Buffer)
 208 00ca B0E0                  ldi r27,hi8(SPI_Buffer)
 209 00cc E0E0                  ldi r30,lo8(FromNaviCtrl)
 210 00ce F0E0                  ldi r31,hi8(FromNaviCtrl)
 211 00d0 0D90                  ld __tmp_reg__,X+
 212 00d2 0192                  st Z+,__tmp_reg__
 213 00d4 8A95                  dec r24
 214 00d6 01F4                  brne .-8
 215 00d8 81E0                  ldi r24,lo8(1)
 216 00da 8093 0000             sts SPI_RxDataValid,r24
 217 00de 00C0                  rjmp .L14
 218                    .L13:
 219 00e0 3093 0000             sts SPI_RxDataValid,r19
 220                    .L14:
 221 00e4 1092 0000             sts SPI_RXState.2,__zero_reg__
 222 00e8 00C0                  rjmp .L5
 223                    .L12:
 224 00ea 920F                  add r25,r18
 225 00ec 9093 0000             sts rxchksum.3,r25
 226                    .L5:
 227 00f0 2091 0000             lds r18,SPI_BufferIndex
 228 00f4 2232                  cpi r18,lo8(34)
 229 00f6 00F0                  brlo .+2
 230 00f8 00C0                  rjmp .L17
 231 00fa 4598                  cbi 40-0x20,5
 232                    /* #APP */
 233 00fc 0000                  nop
 234 00fe 0000                  nop
 235 0100 0000                  nop
 236 0102 0000                  nop
 237 0104 0000                  nop
 238 0106 0000                  nop
 239 0108 0000                  nop
 240 010a 0000                  nop
 241 010c 0000                  nop
 242 010e 0000                  nop
 243 0110 0000                  nop
 244 0112 0000                  nop
 245 0114 0000                  nop
 246 0116 0000                  nop
 247 0118 0000                  nop
 248 011a 0000                  nop
 249 011c 0000                  nop
 250 011e 0000                  nop
 251 0120 0000                  nop
 252 0122 0000                  nop
 253 0124 0000                  nop
 254 0126 0000                  nop
 255 0128 0000                  nop
 256 012a 0000                  nop
 257                    /* #NOAPP */
 258 012c E091 0000             lds r30,SPI_TX_Buffer
 259 0130 F091 0000             lds r31,(SPI_TX_Buffer)+1
 260 0134 E20F                  add r30,r18
 261 0136 F11D                  adc r31,__zero_reg__
 262 0138 8081                  ld r24,Z
 263 013a 8EBD                  out 78-0x20,r24
 264 013c 8091 0000             lds r24,ToNaviCtrl+33
 265 0140 9081                  ld r25,Z
 266 0142 890F                  add r24,r25
 267 0144 8093 0000             sts ToNaviCtrl+33,r24
 268 0148 00C0                  rjmp .L18
 269                    .L17:
 270 014a 81E0                  ldi r24,lo8(1)
 271 014c 8093 0000             sts SPITransferCompleted,r24
 272                    .L18:
 273 0150 2F5F                  subi r18,lo8(-(1))
 274 0152 2093 0000             sts SPI_BufferIndex,r18
 275                    .L2:
 276 0156 0895                  ret
 277                    /* epilogue: frame size=0 */
 278                    /* epilogue: noreturn */
 279                    /* epilogue end (size=0) */
 280                    /* function SPI_TransmitByte size 164 (164) */
 282                            .lcomm motorindex.0,1
 283                            .data
 286                    oldcommand.1:
 287 000e 68                    .byte   104
 288                            .text
 289                    .global UpdateSPI_Buffer
 291                    UpdateSPI_Buffer:
 292                    /* prologue: frame size=0 */
 293 0158 EF92                  push r14
 294 015a FF92                  push r15
 295 015c 0F93                  push r16
 296 015e 1F93                  push r17
 297                    /* prologue end (size=4) */
 298 0160 8091 0000             lds r24,EE_Parameter+28
 299 0164 9927                  clr r25
 300 0166 880F                  lsl r24
 301 0168 991F                  rol r25
 302 016a 880F                  lsl r24
 303 016c 991F                  rol r25
 304 016e 7C01                  movw r14,r24
 305 0170 0027                  clr r16
 306 0172 F7FC                  sbrc r15,7
 307 0174 0095                  com r16
 308 0176 102F                  mov r17,r16
 309 0178 8091 0000             lds r24,IntegralNick
 310 017c 9091 0000             lds r25,(IntegralNick)+1
 311 0180 A091 0000             lds r26,(IntegralNick)+2
 312 0184 B091 0000             lds r27,(IntegralNick)+3
 313 0188 BC01                  movw r22,r24
 314 018a CD01                  movw r24,r26
 315 018c A801                  movw r20,r16
 316 018e 9701                  movw r18,r14
 317 0190 0E94 0000             call __divmodsi4
 318 0194 3093 0000             sts (ToNaviCtrl+3)+1,r19
 319 0198 2093 0000             sts ToNaviCtrl+3,r18
 320 019c 8091 0000             lds r24,IntegralRoll
 321 01a0 9091 0000             lds r25,(IntegralRoll)+1
 322 01a4 A091 0000             lds r26,(IntegralRoll)+2
 323 01a8 B091 0000             lds r27,(IntegralRoll)+3
 324 01ac BC01                  movw r22,r24
 325 01ae CD01                  movw r24,r26
 326 01b0 A801                  movw r20,r16
 327 01b2 9701                  movw r18,r14
 328 01b4 0E94 0000             call __divmodsi4
 329 01b8 3093 0000             sts (ToNaviCtrl+5)+1,r19
 330 01bc 2093 0000             sts ToNaviCtrl+5,r18
 331 01c0 2091 0000             lds r18,ErsatzKompass
 332 01c4 3091 0000             lds r19,(ErsatzKompass)+1
 333 01c8 4091 0000             lds r20,(ErsatzKompass)+2
 334 01cc 5091 0000             lds r21,(ErsatzKompass)+3
 335 01d0 DA01                  movw r26,r20
 336 01d2 C901                  movw r24,r18
 337 01d4 63E0                  ldi r22,3
 338 01d6 880F          1:      lsl r24
 339 01d8 991F                  rol r25
 340 01da AA1F                  rol r26
 341 01dc BB1F                  rol r27
 342 01de 6A95                  dec r22
 343 01e0 01F4                  brne 1b
 344 01e2 820F                  add r24,r18
 345 01e4 931F                  adc r25,r19
 346 01e6 A41F                  adc r26,r20
 347 01e8 B51F                  adc r27,r21
 348 01ea 820F                  add r24,r18
 349 01ec 931F                  adc r25,r19
 350 01ee A41F                  adc r26,r20
 351 01f0 B51F                  adc r27,r21
 352 01f2 2091 0000             lds r18,GIER_GRAD_FAKTOR
 353 01f6 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 354 01fa 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 355 01fe 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 356 0202 BC01                  movw r22,r24
 357 0204 CD01                  movw r24,r26
 358 0206 0E94 0000             call __divmodsi4
 359 020a 3093 0000             sts (ToNaviCtrl+11)+1,r19
 360 020e 2093 0000             sts ToNaviCtrl+11,r18
 361 0212 8091 0000             lds r24,AdNeutralGier
 362 0216 9091 0000             lds r25,(AdNeutralGier)+1
 363 021a 2091 0000             lds r18,AdWertGier
 364 021e 3091 0000             lds r19,(AdWertGier)+1
 365 0222 821B                  sub r24,r18
 366 0224 930B                  sbc r25,r19
 367 0226 9093 0000             sts (ToNaviCtrl+17)+1,r25
 368 022a 8093 0000             sts ToNaviCtrl+17,r24
 369 022e E091 0000             lds r30,NaviCntAcc
 370 0232 F091 0000             lds r31,(NaviCntAcc)+1
 371 0236 8091 0000             lds r24,NaviAccNick
 372 023a 9091 0000             lds r25,(NaviAccNick)+1
 373 023e BF01                  movw r22,r30
 374 0240 0E94 0000             call __divmodhi4
 375 0244 9B01                  movw r18,r22
 376 0246 220F                  lsl r18
 377 0248 331F                  rol r19
 378 024a 220F                  lsl r18
 379 024c 331F                  rol r19
 380 024e 260F                  add r18,r22
 381 0250 371F                  adc r19,r23
 382 0252 260F                  add r18,r22
 383 0254 371F                  adc r19,r23
 384 0256 37FF                  sbrs r19,7
 385 0258 00C0                  rjmp .L21
 386 025a 2D5F                  subi r18,lo8(-(3))
 387 025c 3F4F                  sbci r19,hi8(-(3))
 388                    .L21:
 389 025e 3595                  asr r19
 390 0260 2795                  ror r18
 391 0262 3595                  asr r19
 392 0264 2795                  ror r18
 393 0266 3093 0000             sts (ToNaviCtrl+7)+1,r19
 394 026a 2093 0000             sts ToNaviCtrl+7,r18
 395 026e 8091 0000             lds r24,NaviAccRoll
 396 0272 9091 0000             lds r25,(NaviAccRoll)+1
 397 0276 BF01                  movw r22,r30
 398 0278 0E94 0000             call __divmodhi4
 399 027c 9B01                  movw r18,r22
 400 027e 220F                  lsl r18
 401 0280 331F                  rol r19
 402 0282 220F                  lsl r18
 403 0284 331F                  rol r19
 404 0286 260F                  add r18,r22
 405 0288 371F                  adc r19,r23
 406 028a 260F                  add r18,r22
 407 028c 371F                  adc r19,r23
 408 028e 37FF                  sbrs r19,7
 409 0290 00C0                  rjmp .L22
 410 0292 2D5F                  subi r18,lo8(-(3))
 411 0294 3F4F                  sbci r19,hi8(-(3))
 412                    .L22:
 413 0296 3595                  asr r19
 414 0298 2795                  ror r18
 415 029a 3595                  asr r19
 416 029c 2795                  ror r18
 417 029e 3093 0000             sts (ToNaviCtrl+9)+1,r19
 418 02a2 2093 0000             sts ToNaviCtrl+9,r18
 419 02a6 1092 0000             sts (NaviCntAcc)+1,__zero_reg__
 420 02aa 1092 0000             sts NaviCntAcc,__zero_reg__
 421 02ae 1092 0000             sts (NaviAccNick)+1,__zero_reg__
 422 02b2 1092 0000             sts NaviAccNick,__zero_reg__
 423 02b6 1092 0000             sts (NaviAccRoll)+1,__zero_reg__
 424 02ba 1092 0000             sts NaviAccRoll,__zero_reg__
 425 02be 8091 0000             lds r24,ToNaviCtrl+2
 426 02c2 9927                  clr r25
 427 02c4 AA27                  clr r26
 428 02c6 BB27                  clr r27
 429 02c8 FC01                  movw r30,r24
 430 02ca 3A97                  sbiw r30,10
 431 02cc E830                  cpi r30,8
 432 02ce F105                  cpc r31,__zero_reg__
 433 02d0 00F0                  brlo .+2
 434 02d2 00C0                  rjmp .L23
 435 02d4 E050                  subi r30,lo8(-(pm(.L50)))
 436 02d6 F040                  sbci r31,hi8(-(pm(.L50)))
 437 02d8 0C94 0000             jmp __tablejump2__
 438                            .data
 439                            .section .progmem.gcc_sw_table, "a", @progbits
 440                            .p2align 1
 441                    .L50:
 442 0000 0000                  .word pm(.L24)
 443 0002 0000                  .word pm(.L31)
 444 0004 0000                  .word pm(.L44)
 445 0006 0000                  .word pm(.L26)
 446 0008 0000                  .word pm(.L48)
 447 000a 0000                  .word pm(.L49)
 448 000c 0000                  .word pm(.L25)
 449 000e 0000                  .word pm(.L27)
 450                            .text
 451                    .L24:
 452 02dc 8091 0000             lds r24,Parameter_UserParam1
 453 02e0 8093 0000             sts ToNaviCtrl+21,r24
 454 02e4 8091 0000             lds r24,Parameter_UserParam2
 455 02e8 8093 0000             sts ToNaviCtrl+22,r24
 456 02ec 8091 0000             lds r24,Parameter_UserParam3
 457 02f0 8093 0000             sts ToNaviCtrl+23,r24
 458 02f4 8091 0000             lds r24,Parameter_UserParam4
 459 02f8 8093 0000             sts ToNaviCtrl+24,r24
 460 02fc 8091 0000             lds r24,Parameter_UserParam5
 461 0300 8093 0000             sts ToNaviCtrl+25,r24
 462 0304 8091 0000             lds r24,Parameter_UserParam6
 463 0308 8093 0000             sts ToNaviCtrl+26,r24
 464 030c 8091 0000             lds r24,Parameter_UserParam7
 465 0310 8093 0000             sts ToNaviCtrl+27,r24
 466 0314 8091 0000             lds r24,Parameter_UserParam8
 467 0318 8093 0000             sts ToNaviCtrl+28,r24
 468 031c 8091 0000             lds r24,FC_StatusFlags
 469 0320 8093 0000             sts ToNaviCtrl+29,r24
 470 0324 8091 0000             lds r24,FC_StatusFlags
 471 0328 837F                  andi r24,lo8(-13)
 472 032a 8093 0000             sts FC_StatusFlags,r24
 473 032e 0E94 0000             call GetActiveParamSet
 474 0332 8093 0000             sts ToNaviCtrl+30,r24
 475 0336 8091 0000             lds r24,EE_Parameter+102
 476 033a 8093 0000             sts ToNaviCtrl+31,r24
 477 033e 8091 0000             lds r24,FC_StatusFlags2
 478 0342 00C0                  rjmp .L72
 479                    .L25:
 480 0344 8091 0000             lds r24,Capacity
 481 0348 9091 0000             lds r25,(Capacity)+1
 482 034c 9093 0000             sts (ToNaviCtrl+21)+1,r25
 483 0350 8093 0000             sts ToNaviCtrl+21,r24
 484 0354 8091 0000             lds r24,Capacity+4
 485 0358 9091 0000             lds r25,(Capacity+4)+1
 486 035c 9093 0000             sts (ToNaviCtrl+23)+1,r25
 487 0360 8093 0000             sts ToNaviCtrl+23,r24
 488 0364 8091 0000             lds r24,UBat
 489 0368 9091 0000             lds r25,(UBat)+1
 490 036c 8093 0000             sts ToNaviCtrl+25,r24
 491 0370 8091 0000             lds r24,BattLowVoltageWarning
 492 0374 8093 0000             sts ToNaviCtrl+26,r24
 493 0378 8091 0000             lds r24,VarioCharacter
 494 037c 8093 0000             sts ToNaviCtrl+27,r24
 495 0380 9091 0000             lds r25,motorindex.0
 496 0384 9093 0000             sts ToNaviCtrl+28,r25
 497 0388 E92F                  mov r30,r25
 498 038a FF27                  clr r31
 499 038c A3E0                  ldi r26,3
 500 038e EE0F          1:      lsl r30
 501 0390 FF1F                  rol r31
 502 0392 AA95                  dec r26
 503 0394 01F4                  brne 1b
 504 0396 E050                  subi r30,lo8(-(Motor))
 505 0398 F040                  sbci r31,hi8(-(Motor))
 506 039a 8681                  ldd r24,Z+6
 507 039c 8093 0000             sts ToNaviCtrl+29,r24
 508 03a0 8381                  ldd r24,Z+3
 509 03a2 8093 0000             sts ToNaviCtrl+30,r24
 510 03a6 8781                  ldd r24,Z+7
 511 03a8 8093 0000             sts ToNaviCtrl+31,r24
 512 03ac 8581                  ldd r24,Z+5
 513 03ae 8093 0000             sts ToNaviCtrl+32,r24
 514 03b2 892F                  mov r24,r25
 515 03b4 8F5F                  subi r24,lo8(-(1))
 516 03b6 6CE0                  ldi r22,lo8(12)
 517 03b8 0E94 0000             call __udivmodqi4
 518 03bc 9093 0000             sts motorindex.0,r25
 519 03c0 00C0                  rjmp .L23
 520                    .L26:
 521 03c2 8091 0000             lds r24,EE_Parameter+81
 522 03c6 8093 0000             sts ToNaviCtrl+21,r24
 523 03ca 8091 0000             lds r24,EE_Parameter+82
 524 03ce 8093 0000             sts ToNaviCtrl+22,r24
 525 03d2 8091 0000             lds r24,EE_Parameter+83
 526 03d6 8093 0000             sts ToNaviCtrl+23,r24
 527 03da 8091 0000             lds r24,EE_Parameter+84
 528 03de 8093 0000             sts ToNaviCtrl+24,r24
 529 03e2 8091 0000             lds r24,EE_Parameter+85
 530 03e6 8093 0000             sts ToNaviCtrl+25,r24
 531 03ea 8091 0000             lds r24,EE_Parameter+89
 532 03ee 8093 0000             sts ToNaviCtrl+26,r24
 533 03f2 8091 0000             lds r24,EE_Parameter+90
 534 03f6 8093 0000             sts ToNaviCtrl+27,r24
 535 03fa 8091 0000             lds r24,EE_Parameter+91
 536 03fe 8093 0000             sts ToNaviCtrl+28,r24
 537 0402 8091 0000             lds r24,EE_Parameter+94
 538 0406 8093 0000             sts ToNaviCtrl+29,r24
 539 040a 8091 0000             lds r24,EE_Parameter+92
 540 040e 8093 0000             sts ToNaviCtrl+30,r24
 541 0412 8091 0000             lds r24,EE_Parameter+93
 542 0416 8093 0000             sts ToNaviCtrl+31,r24
 543 041a 8091 0000             lds r24,EE_Parameter+95
 544 041e 00C0                  rjmp .L72
 545                    .L27:
 546 0420 8091 0000             lds r24,EE_Parameter+80
 547 0424 8093 0000             sts ToNaviCtrl+21,r24
 548 0428 8091 0000             lds r24,EE_Parameter+39
 549 042c 8630                  cpi r24,lo8(6)
 550 042e 01F0                  breq .L28
 551 0430 8091 0000             lds r24,JetiBeep
 552 0434 8234                  cpi r24,lo8(66)
 553 0436 01F0                  breq .L29
 554 0438 0E94 0000             call HoTT_Waring
 555 043c E82F                  mov r30,r24
 556 043e FF27                  clr r31
 557 0440 E050                  subi r30,lo8(-(JETI_CODE))
 558 0442 F040                  sbci r31,hi8(-(JETI_CODE))
 559                    /* #APP */
 560 0444 8491                  lpm r24, Z
 561                            
 562                    /* #NOAPP */
 563 0446 8093 0000             sts JetiBeep,r24
 564 044a 00C0                  rjmp .L28
 565                    .L29:
 566 044c 0E94 0000             call HoTT_Waring
 567                    .L28:
 568 0450 8091 0000             lds r24,ToNC_SpeakHoTT
 569 0454 8093 0000             sts ToNaviCtrl+22,r24
 570 0458 00C0                  rjmp .L23
 571                    .L31:
 572                    /* #APP */
 573 045a F894                  cli
 574                    /* #NOAPP */
 575 045c 8091 0000             lds r24,EE_Parameter+3
 576 0460 E82F                  mov r30,r24
 577 0462 FF27                  clr r31
 578 0464 EE0F                  add r30,r30
 579 0466 FF1F                  adc r31,r31
 580 0468 E050                  subi r30,lo8(-(PPM_in))
 581 046a F040                  sbci r31,hi8(-(PPM_in))
 582 046c 0190                  ld __tmp_reg__,Z+
 583 046e F081                  ld r31,Z
 584 0470 E02D                  mov r30,__tmp_reg__
 585 0472 E038                  cpi r30,128
 586 0474 F105                  cpc r31,__zero_reg__
 587 0476 04F0                  brlt .L32
 588 0478 EFE7                  ldi r30,lo8(127)
 589 047a F0E0                  ldi r31,hi8(127)
 590 047c 00C0                  rjmp .L33
 591                    .L32:
 592 047e 2FEF                  ldi r18,hi8(-127)
 593 0480 E138                  cpi r30,lo8(-127)
 594 0482 F207                  cpc r31,r18
 595 0484 04F4                  brge .L33
 596 0486 E1E8                  ldi r30,lo8(-127)
 597 0488 FFEF                  ldi r31,hi8(-127)
 598                    .L33:
 599 048a E093 0000             sts ToNaviCtrl+21,r30
 600 048e 8091 0000             lds r24,EE_Parameter+4
 601 0492 E82F                  mov r30,r24
 602 0494 FF27                  clr r31
 603 0496 EE0F                  add r30,r30
 604 0498 FF1F                  adc r31,r31
 605 049a E050                  subi r30,lo8(-(PPM_in))
 606 049c F040                  sbci r31,hi8(-(PPM_in))
 607 049e 0190                  ld __tmp_reg__,Z+
 608 04a0 F081                  ld r31,Z
 609 04a2 E02D                  mov r30,__tmp_reg__
 610 04a4 E038                  cpi r30,128
 611 04a6 F105                  cpc r31,__zero_reg__
 612 04a8 04F0                  brlt .L35
 613 04aa EFE7                  ldi r30,lo8(127)
 614 04ac F0E0                  ldi r31,hi8(127)
 615 04ae 00C0                  rjmp .L36
 616                    .L35:
 617 04b0 7FEF                  ldi r23,hi8(-127)
 618 04b2 E138                  cpi r30,lo8(-127)
 619 04b4 F707                  cpc r31,r23
 620 04b6 04F4                  brge .L36
 621 04b8 E1E8                  ldi r30,lo8(-127)
 622 04ba FFEF                  ldi r31,hi8(-127)
 623                    .L36:
 624 04bc E093 0000             sts ToNaviCtrl+22,r30
 625 04c0 8091 0000             lds r24,EE_Parameter+2
 626 04c4 E82F                  mov r30,r24
 627 04c6 FF27                  clr r31
 628 04c8 EE0F                  add r30,r30
 629 04ca FF1F                  adc r31,r31
 630 04cc E050                  subi r30,lo8(-(PPM_in))
 631 04ce F040                  sbci r31,hi8(-(PPM_in))
 632 04d0 0190                  ld __tmp_reg__,Z+
 633 04d2 F081                  ld r31,Z
 634 04d4 E02D                  mov r30,__tmp_reg__
 635 04d6 E038                  cpi r30,128
 636 04d8 F105                  cpc r31,__zero_reg__
 637 04da 04F0                  brlt .L38
 638 04dc EFE7                  ldi r30,lo8(127)
 639 04de F0E0                  ldi r31,hi8(127)
 640 04e0 00C0                  rjmp .L39
 641                    .L38:
 642 04e2 8FEF                  ldi r24,hi8(-127)
 643 04e4 E138                  cpi r30,lo8(-127)
 644 04e6 F807                  cpc r31,r24
 645 04e8 04F4                  brge .L39
 646 04ea E1E8                  ldi r30,lo8(-127)
 647 04ec FFEF                  ldi r31,hi8(-127)
 648                    .L39:
 649 04ee E093 0000             sts ToNaviCtrl+23,r30
 650 04f2 8091 0000             lds r24,EE_Parameter+1
 651 04f6 E82F                  mov r30,r24
 652 04f8 FF27                  clr r31
 653 04fa EE0F                  add r30,r30
 654 04fc FF1F                  adc r31,r31
 655 04fe E050                  subi r30,lo8(-(PPM_in))
 656 0500 F040                  sbci r31,hi8(-(PPM_in))
 657 0502 0190                  ld __tmp_reg__,Z+
 658 0504 F081                  ld r31,Z
 659 0506 E02D                  mov r30,__tmp_reg__
 660 0508 E038                  cpi r30,128
 661 050a F105                  cpc r31,__zero_reg__
 662 050c 04F0                  brlt .L41
 663 050e EFE7                  ldi r30,lo8(127)
 664 0510 F0E0                  ldi r31,hi8(127)
 665 0512 00C0                  rjmp .L42
 666                    .L41:
 667 0514 2FEF                  ldi r18,hi8(-127)
 668 0516 E138                  cpi r30,lo8(-127)
 669 0518 F207                  cpc r31,r18
 670 051a 04F4                  brge .L42
 671 051c E1E8                  ldi r30,lo8(-127)
 672 051e FFEF                  ldi r31,hi8(-127)
 673                    .L42:
 674                    /* #APP */
 675 0520 7894                  sei
 676                    /* #NOAPP */
 677 0522 E093 0000             sts ToNaviCtrl+24,r30
 678 0526 8091 0000             lds r24,Poti
 679 052a 8093 0000             sts ToNaviCtrl+25,r24
 680 052e 8091 0000             lds r24,Poti+1
 681 0532 8093 0000             sts ToNaviCtrl+26,r24
 682 0536 8091 0000             lds r24,Poti+2
 683 053a 8093 0000             sts ToNaviCtrl+27,r24
 684 053e 8091 0000             lds r24,Poti+3
 685 0542 8093 0000             sts ToNaviCtrl+28,r24
 686 0546 8091 0000             lds r24,Poti+4
 687 054a 8093 0000             sts ToNaviCtrl+29,r24
 688 054e 8091 0000             lds r24,Poti+5
 689 0552 8093 0000             sts ToNaviCtrl+30,r24
 690 0556 8091 0000             lds r24,Poti+6
 691 055a 8093 0000             sts ToNaviCtrl+31,r24
 692 055e 8091 0000             lds r24,Poti+7
 693 0562 00C0                  rjmp .L72
 694                    .L44:
 695 0564 8091 0000             lds r24,WinkelOut+6
 696 0568 8630                  cpi r24,lo8(6)
 697 056a 00F0                  brlo .L45
 698 056c 1092 0000             sts WinkelOut+6,__zero_reg__
 699 0570 85E0                  ldi r24,lo8(5)
 700                    .L45:
 701 0572 8093 0000             sts ToNaviCtrl+21,r24
 702 0576 8091 0000             lds r24,EE_Parameter+96
 703 057a 8093 0000             sts ToNaviCtrl+22,r24
 704 057e 8091 0000             lds r24,HoehenWert
 705 0582 9091 0000             lds r25,(HoehenWert)+1
 706 0586 A091 0000             lds r26,(HoehenWert)+2
 707 058a B091 0000             lds r27,(HoehenWert)+3
 708 058e BC01                  movw r22,r24
 709 0590 CD01                  movw r24,r26
 710 0592 25E0                  ldi r18,lo8(5)
 711 0594 30E0                  ldi r19,hi8(5)
 712 0596 40E0                  ldi r20,hlo8(5)
 713 0598 50E0                  ldi r21,hhi8(5)
 714 059a 0E94 0000             call __divmodsi4
 715 059e 3093 0000             sts (ToNaviCtrl+23)+1,r19
 716 05a2 2093 0000             sts ToNaviCtrl+23,r18
 717 05a6 8091 0000             lds r24,SollHoehe
 718 05aa 9091 0000             lds r25,(SollHoehe)+1
 719 05ae A091 0000             lds r26,(SollHoehe)+2
 720 05b2 B091 0000             lds r27,(SollHoehe)+3
 721 05b6 BC01                  movw r22,r24
 722 05b8 CD01                  movw r24,r26
 723 05ba 25E0                  ldi r18,lo8(5)
 724 05bc 30E0                  ldi r19,hi8(5)
 725 05be 40E0                  ldi r20,hlo8(5)
 726 05c0 50E0                  ldi r21,hhi8(5)
 727 05c2 0E94 0000             call __divmodsi4
 728 05c6 3093 0000             sts (ToNaviCtrl+25)+1,r19
 729 05ca 2093 0000             sts ToNaviCtrl+25,r18
 730 05ce 8091 0000             lds r24,EE_Parameter+86
 731 05d2 8093 0000             sts ToNaviCtrl+27,r24
 732 05d6 8091 0000             lds r24,EE_Parameter+87
 733 05da 8093 0000             sts ToNaviCtrl+28,r24
 734 05de 8091 0000             lds r24,EE_Parameter+88
 735 05e2 8093 0000             sts ToNaviCtrl+29,r24
 736 05e6 8091 0000             lds r24,SenderOkay
 737 05ea 8093 0000             sts ToNaviCtrl+30,r24
 738 05ee 8091 0000             lds r24,PPM_in
 739 05f2 9091 0000             lds r25,(PPM_in)+1
 740 05f6 8093 0000             sts ToNaviCtrl+31,r24
 741 05fa 8091 0000             lds r24,DebugOut+16
 742 05fe 9091 0000             lds r25,(DebugOut+16)+1
 743 0602 97FD                  sbrc r25,7
 744 0604 0396                  adiw r24,3
 745                    .L47:
 746 0606 9595                  asr r25
 747 0608 8795                  ror r24
 748 060a 9595                  asr r25
 749 060c 8795                  ror r24
 750 060e 00C0                  rjmp .L72
 751                    .L48:
 752 0610 1092 0000             sts ToNaviCtrl+21,__zero_reg__
 753 0614 8AE5                  ldi r24,lo8(90)
 754 0616 8093 0000             sts ToNaviCtrl+22,r24
 755 061a 83E0                  ldi r24,lo8(3)
 756 061c 8093 0000             sts ToNaviCtrl+23,r24
 757 0620 84E3                  ldi r24,lo8(52)
 758 0622 8093 0000             sts ToNaviCtrl+24,r24
 759 0626 8091 0000             lds r24,PlatinenVersion
 760 062a 8093 0000             sts ToNaviCtrl+25,r24
 761 062e 8091 0000             lds r24,VersionInfo+5
 762 0632 8093 0000             sts ToNaviCtrl+26,r24
 763 0636 9091 0000             lds r25,VersionInfo+6
 764 063a 9093 0000             sts ToNaviCtrl+27,r25
 765 063e 8F77                  andi r24,lo8(127)
 766 0640 8093 0000             sts VersionInfo+5,r24
 767 0644 9071                  andi r25,lo8(16)
 768 0646 9093 0000             sts VersionInfo+6,r25
 769 064a 8091 0000             lds r24,VersionInfo+7
 770 064e 8093 0000             sts ToNaviCtrl+28,r24
 771 0652 8091 0000             lds r24,Parameter_GlobalConfig
 772 0656 8093 0000             sts ToNaviCtrl+29,r24
 773 065a 8091 0000             lds r24,Parameter_ExtraConfig
 774 065e 8093 0000             sts ToNaviCtrl+30,r24
 775 0662 8091 0000             lds r24,EE_Parameter+98
 776 0666 8093 0000             sts ToNaviCtrl+31,r24
 777 066a 8091 0000             lds r24,EE_Parameter+111
 778 066e 00C0                  rjmp .L72
 779                    .L49:
 780 0670 8091 0000             lds r24,EE_Parameter+53
 781 0674 8093 0000             sts ToNaviCtrl+21,r24
 782 0678 8091 0000             lds r24,EE_Parameter+109
 783 067c 8093 0000             sts ToNaviCtrl+22,r24
 784 0680 8091 0000             lds r24,Parameter_ServoNickControl
 785 0684 8093 0000             sts ToNaviCtrl+23,r24
 786 0688 8091 0000             lds r24,EE_Parameter+46
 787 068c 8093 0000             sts ToNaviCtrl+24,r24
 788 0690 8091 0000             lds r24,EE_Parameter+47
 789 0694 8093 0000             sts ToNaviCtrl+25,r24
 790 0698 8091 0000             lds r24,EE_Parameter+48
 791 069c 8093 0000             sts ToNaviCtrl+26,r24
 792 06a0 8091 0000             lds r24,Parameter_ServoRollControl
 793 06a4 8093 0000             sts ToNaviCtrl+27,r24
 794 06a8 8091 0000             lds r24,EE_Parameter+50
 795 06ac 8093 0000             sts ToNaviCtrl+28,r24
 796 06b0 8091 0000             lds r24,EE_Parameter+51
 797 06b4 8093 0000             sts ToNaviCtrl+29,r24
 798 06b8 8091 0000             lds r24,EE_Parameter+52
 799 06bc 8093 0000             sts ToNaviCtrl+30,r24
 800 06c0 8091 0000             lds r24,Capacity+6
 801 06c4 8093 0000             sts ToNaviCtrl+31,r24
 802 06c8 8091 0000             lds r24,DebugOut+58
 803                    .L72:
 804 06cc 8093 0000             sts ToNaviCtrl+32,r24
 805                    .L23:
 806 06d0 8091 0000             lds r24,SPI_RxDataValid
 807 06d4 8823                  tst r24
 808 06d6 01F4                  brne .+2
 809 06d8 00C0                  rjmp .L51
 810 06da 6091 0000             lds r22,FromNaviCtrl
 811 06de 8091 0000             lds r24,oldcommand.1
 812 06e2 6817                  cp r22,r24
 813 06e4 01F0                  breq .L52
 814 06e6 8AEF                  ldi r24,lo8(-6)
 815 06e8 8093 0000             sts NaviDataOkay,r24
 816                    .L52:
 817 06ec 6093 0000             sts oldcommand.1,r22
 818 06f0 81E0                  ldi r24,lo8(1)
 819 06f2 8093 0000             sts CalculateCompassTimer,r24
 820 06f6 4091 0000             lds r20,FromNaviCtrl+1
 821 06fa 5091 0000             lds r21,(FromNaviCtrl+1)+1
 822 06fe CA01                  movw r24,r20
 823 0700 8150                  subi r24,lo8(-(511))
 824 0702 9E4F                  sbci r25,hi8(-(511))
 825 0704 8F5F                  subi r24,lo8(1023)
 826 0706 9340                  sbci r25,hi8(1023)
 827 0708 00F4                  brsh .L53
 828 070a 2091 0000             lds r18,FromNaviCtrl+3
 829 070e 3091 0000             lds r19,(FromNaviCtrl+3)+1
 830 0712 C901                  movw r24,r18
 831 0714 8150                  subi r24,lo8(-(511))
 832 0716 9E4F                  sbci r25,hi8(-(511))
 833 0718 8F5F                  subi r24,lo8(1023)
 834 071a 9340                  sbci r25,hi8(1023)
 835 071c 00F4                  brsh .L53
 836 071e 8091 0000             lds r24,EE_Parameter+13
 837 0722 85FF                  sbrs r24,5
 838 0724 00C0                  rjmp .L53
 839 0726 5093 0000             sts (GPS_Nick)+1,r21
 840 072a 4093 0000             sts GPS_Nick,r20
 841 072e 3093 0000             sts (GPS_Roll)+1,r19
 842 0732 2093 0000             sts GPS_Roll,r18
 843                    .L53:
 844 0736 8091 0000             lds r24,FromNaviCtrl+7
 845 073a 9091 0000             lds r25,(FromNaviCtrl+7)+1
 846 073e 21E0                  ldi r18,hi8(361)
 847 0740 8936                  cpi r24,lo8(361)
 848 0742 9207                  cpc r25,r18
 849 0744 04F4                  brge .L54
 850 0746 9093 0000             sts (KompassValue)+1,r25
 851 074a 8093 0000             sts KompassValue,r24
 852                    .L54:
 853 074e 2091 0000             lds r18,FromNaviCtrl+17
 854 0752 3091 0000             lds r19,(FromNaviCtrl+17)+1
 855 0756 8091 0000             lds r24,beeptime
 856 075a 9091 0000             lds r25,(beeptime)+1
 857 075e 8217                  cp r24,r18
 858 0760 9307                  cpc r25,r19
 859 0762 00F4                  brsh .L55
 860 0764 8091 0000             lds r24,DisableRcOffBeeping
 861 0768 8823                  tst r24
 862 076a 01F4                  brne .L55
 863 076c 3093 0000             sts (beeptime)+1,r19
 864 0770 2093 0000             sts beeptime,r18
 865                    .L55:
 866 0774 862F                  mov r24,r22
 867 0776 9927                  clr r25
 868 0778 8936                  cpi r24,105
 869 077a 9105                  cpc r25,__zero_reg__
 870 077c 01F4                  brne .+2
 871 077e 00C0                  rjmp .L62
 872 0780 8A36                  cpi r24,106
 873 0782 9105                  cpc r25,__zero_reg__
 874 0784 04F4                  brge .L70
 875 0786 8736                  cpi r24,103
 876 0788 9105                  cpc r25,__zero_reg__
 877 078a 01F0                  breq .L57
 878 078c 8836                  cpi r24,104
 879 078e 9105                  cpc r25,__zero_reg__
 880 0790 01F4                  brne .+2
 881 0792 00C0                  rjmp .L61
 882 0794 00C0                  rjmp .L20
 883                    .L70:
 884 0796 8A36                  cpi r24,106
 885 0798 9105                  cpc r25,__zero_reg__
 886 079a 01F4                  brne .+2
 887 079c 00C0                  rjmp .L67
 888 079e 8B36                  cpi r24,107
 889 07a0 9105                  cpc r25,__zero_reg__
 890 07a2 01F4                  brne .+2
 891 07a4 00C0                  rjmp .L63
 892 07a6 00C0                  rjmp .L20
 893                    .L57:
 894 07a8 8091 0000             lds r24,FromNaviCtrl+19
 895 07ac 8093 0000             sts FromNaviCtrl_Value,r24
 896 07b0 8091 0000             lds r24,FromNaviCtrl+20
 897 07b4 8093 0000             sts FromNaviCtrl_Value+2,r24
 898 07b8 8091 0000             lds r24,FromNaviCtrl+21
 899 07bc 8093 0000             sts FromNaviCtrl_Value+1,r24
 900 07c0 8091 0000             lds r24,FromNaviCtrl+22
 901 07c4 8093 0000             sts KompassFusion,r24
 902 07c8 8091 0000             lds r24,FromNaviCtrl+23
 903 07cc 8093 0000             sts FromNaviCtrl_Value+4,r24
 904 07d0 8091 0000             lds r24,FromNaviCtrl+24
 905 07d4 8093 0000             sts FromNC_Rotate_C,r24
 906 07d8 8091 0000             lds r24,FromNaviCtrl+25
 907 07dc 8093 0000             sts FromNC_Rotate_S,r24
 908 07e0 8091 0000             lds r24,FromNaviCtrl+26
 909 07e4 8093 0000             sts GPS_Aid_StickMultiplikator,r24
 910 07e8 8091 0000             lds r24,CareFree
 911 07ec 8823                  tst r24
 912 07ee 01F0                  breq .L58
 913 07f0 2091 0000             lds r18,FromNaviCtrl+27
 914 07f4 3091 0000             lds r19,(FromNaviCtrl+27)+1
 915 07f8 37FD                  sbrc r19,7
 916 07fa 00C0                  rjmp .L58
 917 07fc 3093 0000             sts (KompassSollWert)+1,r19
 918 0800 2093 0000             sts KompassSollWert,r18
 919 0804 9091 0000             lds r25,EE_Parameter+55
 920 0808 9923                  tst r25
 921 080a 01F0                  breq .L58
 922 080c 8FE0                  ldi r24,lo8(15)
 923 080e 989F                  mul r25,r24
 924 0810 C001                  movw r24,r0
 925 0812 1124                  clr r1
 926 0814 281B                  sub r18,r24
 927 0816 390B                  sbc r19,r25
 928 0818 C901                  movw r24,r18
 929 081a 8859                  subi r24,lo8(-(360))
 930 081c 9E4F                  sbci r25,hi8(-(360))
 931 081e 68E6                  ldi r22,lo8(360)
 932 0820 71E0                  ldi r23,hi8(360)
 933 0822 0E94 0000             call __divmodhi4
 934 0826 9093 0000             sts (KompassSollWert)+1,r25
 935 082a 8093 0000             sts KompassSollWert,r24
 936                    .L58:
 937 082e 2091 0000             lds r18,POI_KameraNick
 938 0832 3091 0000             lds r19,(POI_KameraNick)+1
 939 0836 8091 0000             lds r24,FromNaviCtrl+29
 940 083a 9091 0000             lds r25,(FromNaviCtrl+29)+1
 941 083e 280F                  add r18,r24
 942 0840 391F                  adc r19,r25
 943 0842 37FF                  sbrs r19,7
 944 0844 00C0                  rjmp .L60
 945 0846 2F5F                  subi r18,lo8(-(1))
 946 0848 3F4F                  sbci r19,hi8(-(1))
 947                    .L60:
 948 084a 3595                  asr r19
 949 084c 2795                  ror r18
 950 084e 3093 0000             sts (POI_KameraNick)+1,r19
 951 0852 2093 0000             sts POI_KameraNick,r18
 952 0856 00C0                  rjmp .L20
 953                    .L61:
 954 0858 8091 0000             lds r24,FromNaviCtrl+19
 955 085c 8093 0000             sts NC_Version,r24
 956 0860 8091 0000             lds r24,FromNaviCtrl+20
 957 0864 8093 0000             sts NC_Version+1,r24
 958 0868 8091 0000             lds r24,FromNaviCtrl+21
 959 086c 8093 0000             sts NC_Version+2,r24
 960 0870 8091 0000             lds r24,FromNaviCtrl+22
 961 0874 8093 0000             sts NC_Version+3,r24
 962 0878 8091 0000             lds r24,FromNaviCtrl+23
 963 087c 8093 0000             sts NC_Version+4,r24
 964 0880 8091 0000             lds r24,DebugOut
 965 0884 9091 0000             lds r25,FromNaviCtrl+24
 966 0888 892B                  or r24,r25
 967 088a 8093 0000             sts DebugOut,r24
 968 088e 9091 0000             lds r25,DebugOut+1
 969 0892 9370                  andi r25,lo8(3)
 970 0894 8091 0000             lds r24,FromNaviCtrl+25
 971 0898 8C70                  andi r24,lo8(12)
 972 089a 982B                  or r25,r24
 973 089c 9093 0000             sts DebugOut+1,r25
 974 08a0 8091 0000             lds r24,FromNaviCtrl+26
 975 08a4 8093 0000             sts NC_ErrorCode,r24
 976 08a8 8091 0000             lds r24,FromNaviCtrl+27
 977 08ac 8093 0000             sts NC_GPS_ModeCharacter,r24
 978 08b0 8091 0000             lds r24,FromNaviCtrl+28
 979 08b4 8093 0000             sts FromNaviCtrl_Value+3,r24
 980 08b8 8091 0000             lds r24,FromNaviCtrl+29
 981 08bc 8093 0000             sts NC_To_FC_Flags,r24
 982 08c0 8091 0000             lds r24,FromNaviCtrl+30
 983 08c4 8093 0000             sts NC_To_FC_MaxAltitude,r24
 984 08c8 00C0                  rjmp .L20
 985                    .L62:
 986 08ca 8091 0000             lds r24,FromNaviCtrl+19
 987 08ce 8093 0000             sts GPSInfo,r24
 988 08d2 8091 0000             lds r24,FromNaviCtrl+20
 989 08d6 8093 0000             sts GPSInfo+1,r24
 990 08da 8091 0000             lds r24,FromNaviCtrl+21
 991 08de 8093 0000             sts GPSInfo+2,r24
 992 08e2 8091 0000             lds r24,FromNaviCtrl+22
 993 08e6 8093 0000             sts GPSInfo+3,r24
 994 08ea 8091 0000             lds r24,FromNaviCtrl+23
 995 08ee 9091 0000             lds r25,(FromNaviCtrl+23)+1
 996 08f2 9093 0000             sts (GPSInfo+4)+1,r25
 997 08f6 8093 0000             sts GPSInfo+4,r24
 998 08fa 8091 0000             lds r24,FromNaviCtrl+25
 999 08fe 9091 0000             lds r25,(FromNaviCtrl+25)+1
 1000 0902 9093 0000            sts (GPSInfo+6)+1,r25
 1001 0906 8093 0000            sts GPSInfo+6,r24
 1002 090a 8091 0000            lds r24,FromNaviCtrl+27
 1003 090e 9927                 clr r25
 1004 0910 87FD                 sbrc r24,7
 1005 0912 9095                 com r25
 1006 0914 9093 0000            sts (PPM_in+50)+1,r25
 1007 0918 8093 0000            sts PPM_in+50,r24
 1008 091c 8091 0000            lds r24,FromNaviCtrl+28
 1009 0920 8093 0000            sts FromNC_AltitudeSpeed,r24
 1010 0924 8091 0000            lds r24,FromNaviCtrl+29
 1011 0928 9091 0000            lds r25,(FromNaviCtrl+29)+1
 1012 092c 9C01                 movw r18,r24
 1013 092e 4427                 clr r20
 1014 0930 37FD                 sbrc r19,7
 1015 0932 4095                 com r20
 1016 0934 542F                 mov r21,r20
 1017 0936 DA01                 movw r26,r20
 1018 0938 C901                 movw r24,r18
 1019 093a 63E0                 ldi r22,3
 1020 093c 880F         1:      lsl r24
 1021 093e 991F                 rol r25
 1022 0940 AA1F                 rol r26
 1023 0942 BB1F                 rol r27
 1024 0944 6A95                 dec r22
 1025 0946 01F4                 brne 1b
 1026 0948 820F                 add r24,r18
 1027 094a 931F                 adc r25,r19
 1028 094c A41F                 adc r26,r20
 1029 094e B51F                 adc r27,r21
 1030 0950 820F                 add r24,r18
 1031 0952 931F                 adc r25,r19
 1032 0954 A41F                 adc r26,r20
 1033 0956 B51F                 adc r27,r21
 1034 0958 8093 0000            sts FromNC_AltitudeSetpoint,r24
 1035 095c 9093 0000            sts (FromNC_AltitudeSetpoint)+1,r25
 1036 0960 A093 0000            sts (FromNC_AltitudeSetpoint)+2,r26
 1037 0964 B093 0000            sts (FromNC_AltitudeSetpoint)+3,r27
 1038 0968 00C0                 rjmp .L20
 1039                   .L63:
 1040 096a 8091 0000            lds r24,FromNaviCtrl+19
 1041 096e 8093 0000            sts EarthMagneticField,r24
 1042 0972 8091 0000            lds r24,FromNaviCtrl+20
 1043 0976 8093 0000            sts EarthMagneticInclination,r24
 1044 097a 8091 0000            lds r24,FromNaviCtrl+21
 1045 097e 8093 0000            sts EarthMagneticInclinationTheoretic,r24
 1046 0982 9091 0000            lds r25,FromNaviCtrl+22
 1047 0986 9923                 tst r25
 1048 0988 01F0                 breq .L64
 1049 098a 8091 0000            lds r24,SpeakHoTT
 1050 098e 8823                 tst r24
 1051 0990 01F0                 breq .L66
 1052 0992 8151                 subi r24,lo8(-(-17))
 1053 0994 8330                 cpi r24,lo8(3)
 1054 0996 00F4                 brsh .L64
 1055                   .L66:
 1056 0998 9093 0000            sts SpeakHoTT,r25
 1057                   .L64:
 1058 099c 8091 0000            lds r24,FromNaviCtrl+23
 1059 09a0 8093 0000            sts NaviData_WaypointIndex,r24
 1060 09a4 8091 0000            lds r24,FromNaviCtrl+24
 1061 09a8 8093 0000            sts NaviData_WaypointNumber,r24
 1062 09ac 8091 0000            lds r24,FromNaviCtrl+25
 1063 09b0 9091 0000            lds r25,(FromNaviCtrl+25)+1
 1064 09b4 9093 0000            sts (NaviData_TargetDistance)+1,r25
 1065 09b8 8093 0000            sts NaviData_TargetDistance,r24
 1066 09bc 8091 0000            lds r24,FromNaviCtrl+27
 1067 09c0 8093 0000            sts NaviData_TargetHoldTime,r24
 1068 09c4 00C0                 rjmp .L20
 1069                   .L67:
 1070 09c6 8091 0000            lds r24,EE_Parameter+39
 1071 09ca 8630                 cpi r24,lo8(6)
 1072 09cc 01F4                 brne .L20
 1073 09ce 0E94 0000            call NC_Fills_HoTT_Telemety
 1074 09d2 00C0                 rjmp .L20
 1075                   .L51:
 1076 09d4 1092 0000            sts (GPS_Nick)+1,__zero_reg__
 1077 09d8 1092 0000            sts GPS_Nick,__zero_reg__
 1078 09dc 1092 0000            sts (GPS_Roll)+1,__zero_reg__
 1079 09e0 1092 0000            sts GPS_Roll,__zero_reg__
 1080                   .L20:
 1081                   /* epilogue: frame size=0 */
 1082 09e4 1F91                 pop r17
 1083 09e6 0F91                 pop r16
 1084 09e8 FF90                 pop r15
 1085 09ea EF90                 pop r14
 1086 09ec 0895                 ret
 1087                   /* epilogue end (size=5) */
 1088                   /* function UpdateSPI_Buffer size 1115 (1106) */
 1090                   .global SPI_StartTransmitPacket
 1092                   SPI_StartTransmitPacket:
 1093                   /* prologue: frame size=0 */
 1094                   /* prologue end (size=0) */
 1095 09ee 8091 0000            lds r24,SPITransferCompleted
 1096 09f2 8823                 tst r24
 1097 09f4 01F4                 brne .+2
 1098 09f6 00C0                 rjmp .L73
 1099 09f8 4598                 cbi 40-0x20,5
 1100 09fa 80E0                 ldi r24,lo8(ToNaviCtrl)
 1101 09fc 90E0                 ldi r25,hi8(ToNaviCtrl)
 1102 09fe 9093 0000            sts (SPI_TX_Buffer)+1,r25
 1103 0a02 8093 0000            sts SPI_TX_Buffer,r24
 1104 0a06 9091 0000            lds r25,SPI_CommandCounter
 1105 0a0a E92F                 mov r30,r25
 1106 0a0c FF27                 clr r31
 1107 0a0e E050                 subi r30,lo8(-(SPI_CommandSequence))
 1108 0a10 F040                 sbci r31,hi8(-(SPI_CommandSequence))
 1109 0a12 9F5F                 subi r25,lo8(-(1))
 1110 0a14 9093 0000            sts SPI_CommandCounter,r25
 1111 0a18 8081                 ld r24,Z
 1112 0a1a 8093 0000            sts ToNaviCtrl+2,r24
 1113 0a1e 9B30                 cpi r25,lo8(11)
 1114 0a20 00F0                 brlo .L75
 1115 0a22 1092 0000            sts SPI_CommandCounter,__zero_reg__
 1116                   .L75:
 1117 0a26 1092 0000            sts SPITransferCompleted,__zero_reg__
 1118 0a2a 0E94 0000            call UpdateSPI_Buffer
 1119 0a2e 81E0                 ldi r24,lo8(1)
 1120 0a30 8093 0000            sts SPI_BufferIndex,r24
 1121                   /* #APP */
 1122 0a34 0000                 nop
 1123 0a36 0000                 nop
 1124 0a38 0000                 nop
 1125 0a3a 0000                 nop
 1126 0a3c 0000                 nop
 1127 0a3e 0000                 nop
 1128 0a40 0000                 nop
 1129 0a42 0000                 nop
 1130 0a44 0000                 nop
 1131 0a46 0000                 nop
 1132 0a48 0000                 nop
 1133 0a4a 0000                 nop
 1134 0a4c 0000                 nop
 1135 0a4e 0000                 nop
 1136 0a50 0000                 nop
 1137 0a52 0000                 nop
 1138 0a54 0000                 nop
 1139 0a56 0000                 nop
 1140 0a58 0000                 nop
 1141 0a5a 0000                 nop
 1142 0a5c 0000                 nop
 1143 0a5e 0000                 nop
 1144 0a60 0000                 nop
 1145 0a62 0000                 nop
 1146                   /* #NOAPP */
 1147 0a64 8091 0000            lds r24,ToNaviCtrl
 1148 0a68 8093 0000            sts ToNaviCtrl+33,r24
 1149 0a6c 8EBD                 out 78-0x20,r24
 1150                   .L73:
 1151 0a6e 0895                 ret
 1152                   /* epilogue: frame size=0 */
 1153                   /* epilogue: noreturn */
 1154                   /* epilogue end (size=0) */
 1155                   /* function SPI_StartTransmitPacket size 89 (89) */
 1157                           .comm GPSInfo,8,1
 1158                           .comm NC_Version,5,1
 1159                           .comm FromNaviCtrl_Value,5,1
 1160                           .comm ToNaviCtrl,34,1
 1161                           .comm FromNaviCtrl,32,1
 1162                           .comm SPI_BufferIndex,1,1
 1163                           .comm SPI_RxBufferIndex,1,1
 1164                           .comm SPI_Buffer,32,1
 1165                           .comm SPI_TX_Buffer,2,1
 1166                           .comm SPITransferCompleted,1,1
 1167                           .comm SPI_ChkSum,1,1
 1168                           .comm SPI_RxDataValid,1,1
 1169                   /* File "spi.c": code 1401 = 0x0579 (1391), prologues   4, epilogues   6 */
DEFINED SYMBOLS
                            *ABS*:00000000 spi.c
  C:\Temp/ccCZfIIu.s:3      *ABS*:0000003f __SREG__
  C:\Temp/ccCZfIIu.s:4      *ABS*:0000003e __SP_H__
  C:\Temp/ccCZfIIu.s:5      *ABS*:0000003d __SP_L__
  C:\Temp/ccCZfIIu.s:6      *ABS*:00000000 __tmp_reg__
  C:\Temp/ccCZfIIu.s:7      *ABS*:00000001 __zero_reg__
  C:\Temp/ccCZfIIu.s:15     .bss:00000000 MagVec
  C:\Temp/ccCZfIIu.s:21     .bss:00000006 POI_KameraNick
  C:\Temp/ccCZfIIu.s:27     .bss:00000008 NC_To_FC_MaxAltitude
  C:\Temp/ccCZfIIu.s:33     .bss:00000009 NC_To_FC_Flags
  C:\Temp/ccCZfIIu.s:39     .bss:0000000a EarthMagneticInclinationTheoretic
  C:\Temp/ccCZfIIu.s:45     .bss:0000000b EarthMagneticInclination
  C:\Temp/ccCZfIIu.s:51     .bss:0000000c EarthMagneticField
  C:\Temp/ccCZfIIu.s:57     .data:00000000 NC_GPS_ModeCharacter
  C:\Temp/ccCZfIIu.s:64     .bss:0000000d NC_ErrorCode
  C:\Temp/ccCZfIIu.s:70     .bss:0000000e SPI_CommandCounter
  C:\Temp/ccCZfIIu.s:76     .data:00000001 SPI_CommandSequence
  C:\Temp/ccCZfIIu.s:91     .data:0000000c NaviDataOkay
  C:\Temp/ccCZfIIu.s:98     .bss:0000000f FromNC_Rotate_S
  C:\Temp/ccCZfIIu.s:104    .data:0000000d FromNC_Rotate_C
  C:\Temp/ccCZfIIu.s:109    .text:00000000 SPI_MasterInit
                            *COM*:00000001 SPITransferCompleted
                            *COM*:00000022 ToNaviCtrl
                            *COM*:00000005 FromNaviCtrl_Value
                            *COM*:00000001 SPI_RxDataValid
                             .bss:00000010 SPI_RXState.2
  C:\Temp/ccCZfIIu.s:139    .bss:00000011 rxchksum.3
  C:\Temp/ccCZfIIu.s:143    .text:00000042 SPI_TransmitByte
                            *COM*:00000001 SPI_RxBufferIndex
                            *COM*:00000020 SPI_Buffer
                            *COM*:00000020 FromNaviCtrl
                            *COM*:00000001 SPI_BufferIndex
                            *COM*:00000002 SPI_TX_Buffer
  C:\Temp/ccCZfIIu.s:140    .bss:00000012 motorindex.0
  C:\Temp/ccCZfIIu.s:286    .data:0000000e oldcommand.1
  C:\Temp/ccCZfIIu.s:291    .text:00000158 UpdateSPI_Buffer
                            *COM*:00000005 NC_Version
                            *COM*:00000008 GPSInfo
  C:\Temp/ccCZfIIu.s:1092   .text:000009ee SPI_StartTransmitPacket
                            *COM*:00000001 SPI_ChkSum

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
SendSPI
EE_Parameter
IntegralNick
__divmodsi4
IntegralRoll
ErsatzKompass
GIER_GRAD_FAKTOR
AdNeutralGier
AdWertGier
NaviCntAcc
NaviAccNick
__divmodhi4
NaviAccRoll
__tablejump2__
Parameter_UserParam1
Parameter_UserParam2
Parameter_UserParam3
Parameter_UserParam4
Parameter_UserParam5
Parameter_UserParam6
Parameter_UserParam7
Parameter_UserParam8
FC_StatusFlags
GetActiveParamSet
FC_StatusFlags2
Capacity
UBat
BattLowVoltageWarning
VarioCharacter
Motor
__udivmodqi4
JetiBeep
HoTT_Waring
JETI_CODE
ToNC_SpeakHoTT
PPM_in
Poti
WinkelOut
HoehenWert
SollHoehe
SenderOkay
DebugOut
PlatinenVersion
VersionInfo
Parameter_GlobalConfig
Parameter_ExtraConfig
Parameter_ServoNickControl
Parameter_ServoRollControl
CalculateCompassTimer
GPS_Nick
GPS_Roll
KompassValue
beeptime
DisableRcOffBeeping
KompassFusion
GPS_Aid_StickMultiplikator
CareFree
KompassSollWert
FromNC_AltitudeSpeed
FromNC_AltitudeSetpoint
SpeakHoTT
NaviData_WaypointIndex
NaviData_WaypointNumber
NaviData_TargetDistance
NaviData_TargetHoldTime
NC_Fills_HoTT_Telemety